Related papers: Achieving Connectivity Between Wide Areas Through …

This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…

Learning how to navigate among humans in an occluded and spatially constrained indoor environment, is a key ability required to embodied agent to be integrated into our society. In this paper, we propose an end-to-end architecture that…

We present an augmented reality human-swarm interface that combines two modalities of interaction: environment-oriented and robot-oriented. The environment-oriented modality allows the user to modify the environment (either virtual or…

This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…

This paper considers the problem of distributed state estimation using multi-robot systems. The robots have limited communication capabilities and, therefore, communicate their measurements intermittently only when they are physically close…

When researching robot swarms, many studies observe complex group behavior emerging from the individual agents' simple local actions. However, the task of learning an individual policy to produce a desired group behavior remains a…

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…

This work presents an embodied agent that can adapt its semantic segmentation network to new indoor environments in a fully autonomous way. Because semantic segmentation networks fail to generalize well to unseen environments, the agent…

Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…

Using robots for exploration of extreme and hazardous environments has the potential to significantly improve human safety. For example, robotic solutions can be deployed to find the source of a chemical leakage and clean the contaminated…

Autonomous swarms of robots can bring robustness, scalability and adaptability to safety-critical tasks such as search and rescue but their application is still very limited. Using semi-autonomous swarms with human control can bring robot…

This paper exhibits a short-run correspondence method appropriate for swarm versatile robots application. Infrared is utilized for transmitting and accepting information and obstruction location. The infrared correspondence code based swarm…

Swarm systems constitute a challenging problem for reinforcement learning (RL) as the algorithm needs to learn decentralized control policies that can cope with limited local sensing and communication abilities of the agents. While it is…

Locomotion may be induced on three levels. On a classical level, actuators and limbs follow the sequence of open-loop top-down control signals they receive. Limbs may move alternatively on their own, which implies that interlimb…

This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…

One of the main tasks for autonomous robot swarms is to collectively decide on the best available option. Achieving that requires a high quality communication between the agents that may not be always available in a real world environment.…

Maintaining connectivity among a group of autonomous agents exploring an area is very important, as it promotes cooperation between the agents and also helps message exchanges which are very critical for their mission. Creating an…

Multi-robot systems of increasing size and complexity are used to solve large-scale problems, such as area exploration and search and rescue. A key decision in human-robot teaming is dividing a multi-robot system into teams to address…

This work investigates the self-organization of multi-agent systems into closed trajectories, a common requirement in unmanned aerial vehicle (UAV) surveillance tasks. In such scenarios, smooth, unbiased control signals save energy and…

Swarm Intelligence-based optimization techniques combine systematic exploration of the search space with information available from neighbors and rely strongly on communication among agents. These algorithms are typically employed to solve…