Related papers: Non-Uniform Robot Densities in Vibration Driven Sw…
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…
We present experimental results on the single file motion of a group of robots interacting with each other through position sensors. We successfully replicate the fundamental diagram typical of these systems, with a transition from free…
In this work, we explore emergent behaviors by swarms of anonymous, homogeneous, non-communicating, reactive robots that do not know their global position and have limited relative sensing. We introduce a novel method that enables such…
Active matter physics and swarm robotics have provided powerful tools for the study and control of ensembles driven by internal sources. At the macroscale, controlling swarms typically utilizes significant memory, processing power, and…
Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…
In this article, we investigate symmetry properties of distributed systems of mobile robots. We consider a swarm of $n\in\mathbb{N}$ robots in the $\mathcal{OBLOT}$ model and analyze their collective $\mathcal{F}$sync dynamics using of…
The limited energy capacity of individual robotic agents in a swarm often limits the possible cooperative tasks they can perform. In this work, we investigate the problem of covering an unknown connected grid environment (e.g. a maze or…
In a robotic swarm, parameters such as position and proximity to the target can be described in terms of probability amplitudes. This idea led to recent studies on a quantum approach to the definition of the swarm, including a block-matrix…
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…
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…
We present a decentralized algorithm to achieve segregation into an arbitrary number of groups with swarms of autonomous robots. The distinguishing feature of our approach is in the minimalistic assumptions on which it is based.…
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…
The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robots is particularly challenging in field deployments.…
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…
Mobile microrobots are envisioned to be useful in a wide range of high-impact applications, many of which requiring cohesive group formation to maintain self-bounded swarms in the absence of confining boundaries. Cohesive group formation…
Swarming behavior, where coherent motion emerges from the interactions of many mobile agents, is ubiquitous in physics and biology. Moreover, there are many efforts to replicate swarming dynamics in mobile robotic systems which take…
This paper presents a novel approach that allows a swarm of heterogeneous robots to produce simultaneously segregative and flocking behaviors using only local sensing. These behaviors have been widely studied in swarm robotics and their…
Swarm robotic systems are systems in which multiple robots having simple functionality perform tasks through their cooperation, and are advantageous in that they can exhibit non-trivial macroscopic functions such as adaptability, fault…
The emerging collective motions of swarms of interacting agents are a subject of great interest in application areas ranging from biology to physics and robotics. In this paper, we conduct a careful analysis of the collective dynamics of a…
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…