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Building a distributed spatial awareness within a swarm of locally sensing and communicating robots enables new swarm algorithms. We use local observations by robots of each other and Gaussian Belief Propagation message passing combined…
In robot swarms operating under highly restrictive sensing and communication constraints, individuals may need to use direct physical proximity to facilitate information exchange. However, in certain task-related scenarios, this requirement…
To accomplish complex swarm robotic missions in the real world, one needs to plan and execute a combination of single robot behaviors, group primitives such as task allocation, path planning, and formation control, and mission-specific…
The recent revolution of intelligent systems made it possible for robots and autonomous systems to work alongside humans, collaborating with them and supporting them in many domains. It is undeniable that this interaction can have huge…
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…
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…
Despite significant research, robotic swarms have yet to be useful in solving real-world problems, largely due to the difficulty of creating and controlling swarming behaviors in multi-agent systems. Traditional top-down approaches in which…
Swarm robotics utilises decentralised self-organising systems to form complex collective behaviours built from the bottom-up using individuals that have limited capabilities. Previous work has shown that simple occlusion-based strategies…
Localized communication in swarms has been shown to increase swarm effectiveness in some situations by allowing for additional opportunities for cooperation. However, communication and utilization of potentially outdated information is also…
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…
Cooperation and competition among stand-alone swarm agents increase collective fitness of the whole system. A principally new kind of collective systems is demonstrated by some bacteria and fungi, when they build symbiotic organisms.…
In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm…
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 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…
Robotic swarms are decentralized multi-robot systems whose members use local information from proximal neighbors to execute simple reactive control laws that result in emergent collective behaviors. In contrast, members of a general…
In collective robotic systems, the automatic generation of controllers for complex tasks is still a challenging problem. Open-ended evolution of complex robot behaviors can be a possible solution whereby an intrinsic driver for pattern…
This paper considers cooperative control of robots involving two different testbed systems in remote locations with communication on the internet. This provides us the capability to exchange robots status like positions, velocities and…
This article concerns the review of a special class of swarm intelligence based algorithms for solving optimization problems and these algorithms can be referred to as social algorithms. Social algorithms use multiple agents and the social…
The emerging behaviors of swarms have fascinated scientists and gathered significant interest in the field of robotics. Traditionally, swarms are viewed as egalitarian, with robots sharing identical roles and capabilities. However, recent…
Micro- and nanorobotics have the potential to revolutionize many applications including targeted material delivery, assembly, and surgery. The same properties that promise breakthrough solutions---small size and large populations---present…