Related papers: Swarm robotics and complex behaviour of continuum …
Interacting individuals in complex systems often give rise to coherent motion exhibiting coordinated global structures. Such phenomena are ubiquitously observed in nature, from cell migration, bacterial swarms, animal and insect groups, and…
Swarm robotic systems are mainly inspired by swarms of socials insects and the collective emergent behavior that arises from their cooperation at the lower lever. Despite the limited sensory ability, computational power, and communication…
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…
Cooperative transport is a striking phenomenon where multiple agents join forces to transit a payload too heavy for the individual. While social animals such as ants are routinely observed to coordinate transport at scale, reproducing the…
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…
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 investigate a class of continuum models for the motion of a two-dimensional biological group under the influence of nonlocal social interactions. The dynamics may be uniquely decomposed into incompressible motion and potential motion.…
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…
Swarm robotics utilises decentralised self-organising systems to form complex collective behaviours built from the bottom-up using individuals that have limited capabilities. Previous work has shown that simple occlusion-based strategies…
When designing swarm-robotic systems, systematic comparison of algorithms from different domains is necessary to determine which is capable of scaling up to handle the target problem size and target operating conditions. We propose a set of…
Swarm robotics promises adaptability to unknown situations and robustness against failures. However, it still struggles with global tasks that require understanding the broader context in which the robots operate, such as identifying the…
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…
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…
To accomplish complex swarm robotic missions in the real world, one needs to plan and execute a combination of single robot behaviors, group primitives such as task allocation, path planning, and formation control, and mission-specific…
Collective intelligence and autonomy of robot swarms can be improved by enabling the individual robots to become aware they are the constituent units of a larger whole and what is their role. In this study, we present an algorithm to enable…
Inspired by biological swarms, robotic swarms are envisioned to solve real-world problems that are difficult for individual agents. Biological swarms can achieve collective intelligence based on local interactions and simple rules; however,…
We present a geometric design rule for size-controlled clustering of self-propelled particles. We show that active particles that tend to rotate under an external force have an intrinsic, signed parameter with units of curvature which we…
Robot swarms often exhibit emergent behaviors that are fascinating to observe; however, it is often difficult to predict what swarm behaviors can emerge under a given set of agent capabilities. We seek to efficiently leverage human input to…
In this paper we introduce a method for determining local interaction rules in animal swarms. The method is based on the assumption that the behavior of individuals in a swarm can be treated as a set of mechanistic rules. The principal idea…
The emerging behaviors of swarms have fascinated scientists and gathered significant interest in the field of robotics. Traditionally, swarms are viewed as egalitarian, with robots sharing identical roles and capabilities. However, recent…