Related papers: To Centralize or Not to Centralize: A Tale of Swar…
Swarms of autonomous devices are increasing in ubiquity and size. There are two main trains of thought for controlling devices in such swarms; centralized and distributed control. Centralized platforms achieve higher output quality but…
Swarm robotics is a study of simple robots that exhibit complex behaviour only by interacting locally with other robots and their environment. The control in swarm robotics is mainly distributed whereas centralised control is widely used in…
In swarm robotics, decentralized control is often proposed as a more scalable and fault-tolerant alternative to centralized control. However, centralized behaviors are often faster and more efficient than their decentralized counterparts.…
Inspired by biological swarms, robotic swarms are envisioned to solve real-world problems that are difficult for individual agents. Biological swarms can achieve collective intelligence based on local interactions and simple rules; however,…
One of the most important promises of decentralized systems is scalability, which is often assumed to be present in robot swarm systems without being contested. Simple limitations, such as movement congestion and communication conflicts,…
Collective decision-making is an essential capability of large-scale multi-robot systems to establish autonomy on the swarm level. A large portion of literature on collective decision-making in swarm robotics focuses on discrete decisions…
The problem of robotic synchronisation and coordination is a long-standing one. Combining autonomous, computerised systems with unpredictable real-world conditions can have consequences ranging from poor performance to collisions and…
Swarm robotic systems are mainly inspired by swarms of socials insects and the collective emergent behavior that arises from their cooperation at the lower lever. Despite the limited sensory ability, computational power, and communication…
Collective animal behaviors are paradigmatic examples of fully decentralized operations involving complex collective computations such as collective turns in flocks of birds or collective harvesting by ants. These systems offer a unique…
Collective decision-making is a key function of autonomous robot swarms, enabling them to reach a consensus on actions based on environmental features. Existing strategies require the participation of all robots in the decision-making…
Drones are also known as UAVs are originally designed for military purposes. With the technological advances, they can be seen in most of the aspects of life from filming to logistics. The increased use of drones made it sometimes essential…
We present a decentralized and scalable approach for deployment of a robot swarm. Our approach tackles scenarios in which the swarm must reach multiple spatially distributed targets, and enforce the constraint that the robot network cannot…
Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…
We study the problem of distributed control of large-scale robotic swarms which can be modeled as continuum densities evolving under the continuity equation. We propose a formalization of distributed controllers as (generally nonlinear)…
With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example,…
Decentralized coordination of a robot swarm requires addressing the tension between local perceptions and actions, and the accomplishment of a global objective. In this work, we propose to learn decentralized controllers based on solely raw…
Swarm systems consist of large numbers of robots that collaborate autonomously. With an appropriate level of human control, swarm systems could be applied in a variety of contexts ranging from search-and-rescue situations to Cyber defence.…
Robot swarms offer the potential to bring several advantages to the real-world applications but deploying them presents challenges in ensuring feasibility across diverse environments. Assessing the feasibility of new tasks for swarms is…
Swarms of autonomous devices are increasing in ubiquity and size, making the need for rethinking their hardware-software system stack critical. We present HiveMind, the first swarm coordination platform that enables programmable execution…
Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…