Related papers: Socially Inspired Communication in Swarm Robotics
We consider systems that are well modelled as a networks that evolve in time, which we call {\it Moving Neighborhood Networks}. These models are relevant in studying cooperative behavior of swarms and other phenomena where emergent…
Although recent works try to improve collective communication in grid systems by separating intra and inter-cluster communication, the optimisation of communications focus only on inter-cluster communications. We believe, instead, that the…
Representation and control of the dynamics of stigmergic substances used by bio-inspired approaches is a challenge when applied to robotics. In order to overcome this challenge, this work proposes a model to coordinate swarms of robots…
In this paper, we investigate how to design an effective interface for remote multi-human multi-robot interaction. While significant research exists on interfaces for individual human operators, little research exists for the multi-human…
Autonomous swarms of robots can bring robustness, scalability and adaptability to safety-critical tasks such as search and rescue but their application is still very limited. Using semi-autonomous swarms with human control can bring robot…
Human-to-human communications are enriched with affects and emotions, conveyed, and perceived through both verbal and nonverbal communication. It is our thesis that drone swarms can be used to communicate information enriched with effects…
Feedback optimisation is an emerging technique aiming at steering a system to an optimal steady state for a given objective function. We show that it is possible to employ this control strategy in a distributed manner. Moreover, we prove…
In this paper, we develop a distributed intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captured by local Linear Temporal Logic formulas, and share the…
The problem of near-optimal distributed path planning to locally sensed targets is investigated in the context of large swarms. The proposed algorithm uses only information that can be locally queried, and rigorous theoretical results on…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
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…
RoboCup represents an International testbed for advancing research in AI and robotics, focusing on a definite goal: developing a robot team that can win against the human world soccer champion team by the year 2050. To achieve this goal,…
We consider a team of mobile autonomous robots with the aim to cover a given set of targets. Each robot aims to select a target to cover and physically reach it by the final time in coordination with other robots given the locations of…
In crowded environments, individuals must navigate around other occupants to reach their destinations. Understanding and controlling traffic flows in these spaces is relevant for coordinating robot swarms and designing infrastructure for…
We present a method for the control of robot swarms using two subsets of robots: a larger group of simple, oblivious robots (which we call the workers) that is governed by simple local attraction forces, and a smaller group (the guides)…
Barring swarm robotics, a substantial share of current machine-human and machine-machine learning and interaction mechanisms are being developed and fed by results of agent-based computer simulations, game-theoretic models, or robotic…
Modelling biological or engineering swarms is challenging due to the inherently high dimension of the system, despite the often low-dimensional emergent dynamics. Most existing swarm modelling approaches are based on first principles and…
Decentralized cooperative resource allocation schemes for robotic swarms are essential to enable high reliability in high throughput data exchanges. These cooperative schemes require control signaling with the aim to avoid half-duplex…
Reaching a consensus in a swarm of robots is one of the fundamental problems in swarm robotics, examining the possibility of reaching an agreement within the swarm members. The recently-introduced contamination problem offers a new…
Swarms have distributed control and so are assumed to inherently have superior robustness, scalability and adaptability compared to centralised multi-agent systems. However, these features have generally only been defined qualitatively and…