Related papers: Achieving Connectivity Between Wide Areas Through …

Most studies in swarm robotics treat the swarm as an isolated system of interest. We argue that the prevailing view of swarms as self-sufficient, independent systems limits the scope of potential applications for swarm robotics. A robot…

Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The…

Cyborg insects refer to hybrid robots that integrate living insects with miniature electronic controllers to enable robotic-like programmable control. These creatures exhibit advantages over conventional robots in adaption to complex…

Morphological computing, the use of the physical design of a robot to ease the realization of a given task has been proven to be a relevant concept in the context of swarm robotics. Here we demonstrate both experimentally and numerically,…

Technological development continues to advance, with consequences for the use of robots in health care. For this reason, this workshop contribution aims at consideration of how socially assistive robots can be integrated into care and what…

This paper describes a technique for the autonomous mission planning of robotic swarms in high risk environments where agent disablement is likely. Given a swarm operating in a known area, a central command system generates measurements…

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…

We present a set of metrics intended to supplement designer intuitions when designing swarm-robotic systems, increase accuracy in extrapolating swarm behavior from algorithmic descriptions and small test experiments, and lead to faster and…

The topology of a robotic swarm affects the convergence speed of consensus and the mobility of the robots. In this paper, we prove the existence of a complete set of local topology manipulation operations that allow the transformation of a…

Swarm robots, inspired by the emergence of animal herds, are robots that assemble a large number of modules and self-organize themselves to form specific morphologies and exhibit specific functions. These modular robots perform relatively…

Whereas naturally occurring swarms thrive when crowded, physical interactions in robotic swarms are either avoided or carefully controlled, thus limiting their operational density. Here we present a mechanical design rule that allows robots…

The survivable network concept refers to contexts where the wireless communication between ground agents needs to be maintained as much as possible at all times, regardless of any adverse conditions that may arise. In this paper we propose…

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,…

Embodied intelligence has witnessed remarkable progress in recent years, driven by advances in computer vision, natural language processing, and the rise of large-scale multimodal models. Among its core challenges, robot manipulation stands…

We outline a possible theoretical framework for the quantitative modeling of networked embodied cognitive systems. We notice that: 1) information self structuring through sensory-motor coordination does not deterministically occur in Rn…

We consider the problem of completely covering an unknown discrete environment with a swarm of asynchronous, frequently-crashing autonomous mobile robots. We represent the environment by a discrete graph, and task the robots with occupying…

Coordinating robotic swarms in dynamic and communication-constrained environments remains a fundamental challenge for collective intelligence. This paper presents a novel framework for event-triggered organization, designed to achieve…

The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…

The automatic design of robots has existed for 30 years but has been constricted by serial non-differentiable design evaluations, premature convergence to simple bodies or clumsy behaviors, and a lack of sim2real transfer to physical…

Evolution sculpts both the body plans and nervous systems of agents together over time. In contrast, in AI and robotics, a robot's body plan is usually designed by hand, and control policies are then optimized for that fixed design. The…