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Designing controllers for robot swarms is challenging, because human developers have typically no good understanding of the link between the details of a controller that governs individual robots and the swarm behavior that is an indirect…
An Optimal Transport (OT)-based decentralized collaborative multi-robot exploration strategy is proposed in this paper. This method is to achieve an efficient exploration with a predefined priority in the given domain. In this context, the…
We present the first decentralized multi-copter flock that performs stable autonomous outdoor flight with up to 10 flying agents. By decentralized and autonomous we mean that all members navigate themselves based on the dynamic information…
This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between information gain and energy cost (e.g., control effort,…
Minimalistic robot swarms offer a scalable, robust, and cost-effective approach to performing complex tasks with the potential to transform applications in healthcare, disaster response, and environmental monitoring. However, coordinating…
We present DisCo, a distributed algorithm for contact-rich, multi-robot tasks. DisCo is a distributed contact-implicit trajectory optimization algorithm, which allows a group of robots to optimize a time sequence of forces to objects and to…
Applications of large-scale mobile multi-robot systems can be beneficial over monolithic robots because of higher potential for robustness and scalability. Developing controllers for multi-robot systems is challenging because the multitude…
We propose an asynchronous, decentralized algorithm for consensus optimization. The algorithm runs over a network in which the agents communicate with their neighbors and perform local computation. In the proposed algorithm, each agent can…
Large swarms of autonomous devices are increasing in size and importance. When it comes to controlling the devices of large-scale swarms there are two main lines of thought. Centralized control, where all decisions - and often compute -…
Due to the distributed nature of cooperative simultaneous localization and mapping (CSLAM), detecting inter-robot loop closures necessitates sharing sensory data with other robots. A na\"{\i}ve approach to data sharing can easily lead to a…
The planning and control of a robot swarm in a complex environment have attracted increasing attention. To this end, the idea of virtual tubes has been taken up in our previous work. Specifically, a virtual tube with varying widths has been…
A swarm robotic system consists of a team of robots performing cooperative tasks without any centralized coordination. In principle, swarms enable flexible and scalable solutions; however, designing individual control algorithms that can…
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…
The ability to communicate intention enables decentralized multi-agent robots to collaborate while performing physical tasks. In this work, we present spatial intention maps, a new intention representation for multi-agent vision-based deep…
Modern cities are growing ecosystems that face new challenges due to the increasing population demands. One of the many problems they face nowadays is waste management, which has become a pressing issue requiring new solutions. Swarm…
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…
We consider the problem of finding distributed controllers for large networks of mobile robots with interacting dynamics and sparsely available communications. Our approach is to learn local controllers that require only local information…
We consider the following variant of the two dimensional gathering problem for swarms of robots: Given a swarm of $n$ indistinguishable, point shaped robots on a two dimensional grid. Initially, the robots form a closed chain on the grid…
In this paper we consider a stochastic deployment problem, where a robotic swarm is tasked with the objective of positioning at least one robot at each of a set of pre-assigned targets while meeting a temporal deadline. Travel times and…
Productive and efficient human-robot teaming is a highly desirable ability in service robots, yet there is a fundamental trade-off that a robot needs to consider in such tasks. On the one hand, gaining information from communication with…