Related papers: On Steering Swarms
Wireless mobile sensor networks (WMSNs) are groups of mobile sensing agents with multi-modal sensing capabilities that communicate over wireless networks. WMSNs have more flexibility in terms of deployment and exploration abilities over…
Collaborative path planning for robot swarms in complex, unknown environments without external positioning is a challenging problem. This requires robots to find safe directions based on real-time environmental observations, and to…
Principle of Swarm Intelligence has recently found widespread application in formation control and automated tracking by the automated multi-agent system. This article proposes an elegant and effective method inspired by foraging dynamics…
This study considers the control of parent-child systems where a parent system is acted on by a set of controllable child systems (i.e. a swarm). Examples of such systems include a swarm of robots pushing an object over a surface, a swarm…
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 -…
Effective operation and seamless cooperation of robotic systems are a fundamental component of next-generation technologies and applications. In contexts such as disaster response, swarm operations require coordinated behavior and mobility…
Communication is essential for coordination among humans and animals. Therefore, with the introduction of intelligent agents into the world, agent-to-agent and agent-to-human communication becomes necessary. In this paper, we first study…
Representation of a swarm of independent robotic agents under graph-theoretic constructs allows for more formal analysis of convergence properties. We consider the local and global convergence behavior of an N-member swarm of agents in a…
Robot swarms, systems of many robots that operate in a distributed fashion, have many applications in areas such as search-and-rescue, natural disaster response, and self-assembly. Several of these applications can be abstracted to the…
The strength of gnomes lies in their coordinated action. Being small and subtle creatures themselves, the forest gnomes can form large swarms acting as one giant creature. This unusual defense strategy requires a lot of skill and training.…
This paper introduces a method for designing spatially intelligent robot swarm behaviors to localize concealed radio emitters. We use differential evolution to generate geometric patrol routes that localize unknown signals independently of…
There is a belief that complexity and chaos are essential for adaptability. But life deals with complexity every moment, without the chaos that engineers fear so, by invoking goal-directed behaviour. Goals can be programmed. That is why…
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…
Combining different types of agents in uncrewed vehicle (UV) swarms has emerged as an approach to enhance mission resilience and operational capabilities across a wide range of applications. This study offers a systematic framework for…
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…
This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…
Swarm intelligence is the collective behavior emerging in systems with locally interacting components. Because of their self-organization capabilities, swarm-based systems show essential properties for handling real-world problems such as…
This paper is concerned with the problem of designing, from data, agents that are able to craft their behavior from a number of contributors in order to fulfill some agent-specific task. This is not necessarily known to the contributors.…
With the rapid upliftment of technology, there has emerged a dire need to fine-tune or optimize certain processes, software, models or structures, with utmost accuracy and efficiency. Optimization algorithms are preferred over other methods…
Consider a swarm of particles controlled by global inputs. This paper presents algorithms for shaping such swarms in 2D using boundary walls. The range of configurations created by conforming a swarm to a boundary wall is limited. We…