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Swarm robotics explores the coordination of multiple robots to achieve collective goals, with collective decision-making being a central focus. This process involves decentralized robots autonomously making local decisions and communicating…
In this letter, we consider a distributed submodular maximization problem for multi-robot systems when attacked by adversaries. One of the major challenges for multi-robot systems is to increase resilience against failures or attacks. This…
In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…
We consider multi-robot applications, where a team of robots can ask for the intervention of a human operator to handle difficult situations. As the number of requests grows, team members will have to wait for the operator attention, hence…
This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large…
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…
In this paper, we use simulated swarms of robots to further explore the aggregation dynamics generated by these simple individual mechanisms. Our objective is to study the introduction of "informed robots", and to study how many of these…
A robotic swarm that is required to operate for long periods in a potentially unknown environment can use both evolution and individual learning methods in order to adapt. However, the role played by the environment in influencing the…
In swarm robotics, just as for an animal swarm in Nature, one of the aims is to reach and maintain a desired configuration. One of the possibilities for the team, to reach this aim, is to see what its neighbours are doing. This approach…
This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…
In industrial environments, predicting human actions is essential for ensuring safe and effective collaboration between humans and robots. This paper introduces a perception framework that enables mobile robots to understand and share…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…
In this paper, we design algorithms to protect swarm-robotics applications against sensor denial-of-service (DoS) attacks on robots. We focus on applications requiring the robots to jointly select actions, e.g., which trajectory to follow,…
Collaborating teams of robots show promise due in their ability to complete missions more efficiently and with improved robustness, attributes that are particularly useful for systems operating in marine environments. A key issue is how to…
The decreased size and cost of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) has enabled the use of swarms of unmanned autonomous vehicles to accomplish a variety of tasks. By utilizing swarming behaviors, it is…
Multi-robot systems are an efficient method to explore and map an unknown environment. The simulataneous localization and mapping (SLAM) algorithm is common for single robot systems, however multiple robots can share respective map data in…
A group of wheeled robots with nonholonomic constraints is considered to rendezvous at a common specified setpoint with a desired orientation while maintaining network connectivity and ensuring collision avoidance within the robots. Given…
Collision avoidance is one of the most important topics in the robotics field. The goal is to move the robots from initial locations to target locations such that they follow shortest non-colliding paths in the shortest time and with the…
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…
We propose a method, based on empirical game theory, for a robot operating as part of a team to choose its role within the team without explicitly communicating with team members, by leveraging its knowledge about the team structure. To do…