Related papers: Quantitative Assessment of Robotic Swarm Coverage
Modern applications, such as orchestrating the collective behavior of robotic swarms or traffic flows, require the coordination of large groups of agents evolving in unstructured environments, where disturbances and unmodeled dynamics are…
Many new methodologies for the control of large-scale multi-agent systems are based on macroscopic representations of the emerging system dynamics, in the form of continuum approximations of large ensembles. These techniques, that are…
Reaching a consensus in a swarm of robots is one of the fundamental problems in swarm robotics, examining the possibility of reaching an agreement within the swarm members. The recently-introduced contamination problem offers a new…
We present a distributed algorithm for a swarm of active particles to camouflage in an environment. Each particle is equipped with sensing, computation and communication, allowing the system to take color and gradient information from the…
Many swarm robotics tasks consist of multiple conflicting objectives. This research proposes a multi-objective evolutionary neural network approach to developing controllers for swarms of robots. The swarm robot controllers are trained in a…
In this paper, we investigate how to learn to control a group of cooperative agents with limited sensing capabilities such as robot swarms. The agents have only very basic sensor capabilities, yet in a group they can accomplish…
This paper presents an in-depth survey and performance evaluation of the Cat Swarm Optimization (CSO) Algorithm. CSO is a robust and powerful metaheuristic swarm-based optimization approach that has received very positive feedback since its…
Representation of a swarm of independent robotic agents under graph-theoretic constructs allows for more formal analysis of convergence properties. We consider the local and global convergence behavior of an N-member swarm of agents in a…
Swarm robotic search is concerned with searching targets in unknown environments (e.g., for search and rescue or hazard localization), using a large number of collaborating simple mobile robots. In such applications, decentralized swarm…
Uncertainties influencing the dynamical systems pose a significant challenge in estimating the achievable performance of a controller aiming to control such uncertain systems. When the uncertainties are of stochastic nature, obtaining hard…
We consider the problem of estimating the probability density function of a circular random variable observed under censoring. To this end, we introduce a projection estimator constructed via a regression approach on linear sieves. We first…
Purpose. To obtain the interference immunity of the data exchange by spread spectrum signals with variable entropy of the telemetric information data exchange with autonomous mobile robots. Methodology. The results have been obtained by the…
A group of cooperative aerial robots can be deployed to efficiently patrol a terrain, in which each robot flies around an assigned area and shares information with the neighbors periodically in order to protect or supervise it. To ensure…
We propose a function-valued evaluation metric for generative models based on the relative density ratio (RDR) designed to characterize distributional differences between real and generated samples. As an evaluation metric, the RDR function…
A key requirement in robotics is the ability to simultaneously self-localize and map a previously unknown environment, relying primarily on onboard sensing and computation. Achieving fully onboard accurate simultaneous localization and…
This paper develops a decentralized approach to mobile sensor coverage by a multi-robot system. We consider a scenario where a team of robots with limited sensing range must position itself to effectively detect events of interest in a…
This paper introduces a framework for human swarm interaction studies that measures situation awareness in dynamic environments. A tablet-based interface was developed for a user study by implementing the concepts introduced in the…
We introduce a nonparametric way to estimate the global probability density function for a random persistence diagram. Precisely, a kernel density function centered at a given persistence diagram and a given bandwidth is constructed. Our…
In this work, we present a novel automated procedure for constructing a metric map of an unknown domain with obstacles using uncertain position data collected by a swarm of resource-constrained robots. The robots obtain this data during…
This paper proposes a novel methodology for addressing the simulation-reality gap for multi-robot swarm systems. Rather than immediately try to shrink or `bridge the gap' anytime a real-world experiment failed that worked in simulation, we…