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This paper proposes a model-based framework to automatically and efficiently design understandable and verifiable behaviors for swarms of robots. The framework is based on the automatic extraction of two distinct models: 1) a neural network…
Real-time multi-agent collision-avoidance algorithms comprise a key enabling technology for the practical use of self-organising swarms of drones. This paper proposes a decentralised reciprocal collision-avoidance algorithm, which is based…
The collective performance or capacity of collaborative autonomous systems such as a swarm of robots is jointly influenced by the morphology and the behavior of individual systems in that collective. In that context, this paper explores how…
Neurobiological theories of spatial cognition developed with respect to recording data from relatively small and/or simplistic environments compared to animals' natural habitats. It has been unclear how to extend theoretical models to large…
With the rapid evolution of wireless mobile devices, there emerges an increased need to design effective collaboration mechanisms between intelligent agents, so as to gradually approach the final collective objective through continuously…
A large variety of microorganisms produce molecules to communicate via complex signaling mechanisms such as quorum sensing and chemotaxis. The biological diversity is enormous, but synthetic inanimate colloidal microswimmers mimic…
Robot swarms have the potential to help groups of people with social tasks, given their ability to scale to large numbers of robots and users. Developing multi-human-swarm interaction is therefore crucial to support multiple people…
Robot swarms require cohesive collective behaviour to address diverse challenges, including shape formation and decision-making. Existing approaches often treat consensus in discrete and continuous decision spaces as distinct problems. We…
Swarm robotics is a creative method of organizing multi-robot structures, consisting of many basic robots influenced by communal insects. The greatest astonishing attribute of swarm robots is their capacity to function together to…
For any system, whether physical or non-physical, knowledge of the form and strength of inter-individual interactions is a key-information. In an approach based on statistical physics one needs to know the interaction Hamiltonian. For…
Individual robots are not effective at exploring large unmapped areas. An alternate approach is to use a swarm of simple robots that work together, rather than a single highly capable robot. The central-place foraging algorithm (CPFA) is…
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…
Inter-individual variability has various impacts in animal social behaviour. This implies that not only collective behaviours have to be studied but also the behavioural variability of each member composing the groups. To understand those…
The olfactory system of male moths is exquisitely sensitive to pheromones emitted by females and transported in the environment by atmospheric turbulence. Moths respond to minute amounts of pheromones and their behavior is sensitive to the…
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…
Several models of flocking have been promoted based on simulations with qualitatively naturalistic behavior. In this paper we provide the first direct application of computational modeling methods to infer flocking behavior from…
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…
We present a distributed algorithm for a swarm of active particles to camouflage in an environment. Each particle is equipped with sensing, computation and communication, allowing the system to take color and gradient information from the…
Experiments using large numbers of miniature swarm robots are desirable to teach, study, and test multi-robot and swarm intelligence algorithms and their applications. To realize the full potential of a swarm robot, it should be capable of…
One of the most important promises of decentralized systems is scalability, which is often assumed to be present in robot swarm systems without being contested. Simple limitations, such as movement congestion and communication conflicts,…