Related papers: A Swarm of Simple Robots Constructing Planar Shape…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
Evolutionary algorithms offer great promise for the automatic design of robot bodies, tailoring them to specific environments or tasks. Most research is done on simplified models or virtual robots in physics simulators, which do not capture…
The planning and control of a robot swarm in a complex environment have attracted increasing attention. To this end, the idea of virtual tubes has been taken up in our previous work. Specifically, a virtual tube with varying widths has been…
Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to…
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…
We propose a learning-from-demonstration approach for grounding actions from expert data and an algorithm for using these actions to perform a task in new environments. Our approach is based on an application of sampling-based motion…
Swarm and field robotics face significant barriers to real-world validation due to the high cost and development time to deploy hardware. This paper introduces the ``Bionic Swarm,'' a novel system that lowers these barriers by abstracting…
Two fundamental problems of distributed computing are Gathering and Arbitrary pattern formation (\textsc{Apf}). These two tasks are different in nature as in gathering robots meet at a point but in \textsc{Apf} robots form a fixed pattern…
When researching robot swarms, many studies observe complex group behavior emerging from the individual agents' simple local actions. However, the task of learning an individual policy to produce a desired group behavior remains a…
This paper describes an approach to automatically extracting floor plans from the kinds of incomplete measurements that could be acquired by an autonomous mobile robot. The approach proceeds by reasoning about extended structural layout…
Swarm of drones are increasingly being asked to carry out missions that can't be completed by one drone. Particularly, in delivery, issues arise due to the swarm's limited flight endurance. Hence, we propose a novel formation-guided…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
Robot swarms offer significant potential for inspecting diverse infrastructure, ranging from bridges to space stations. However, effective inspection requires accurate robot localization, which demands substantial computational resources…
With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by special structures on robots require a more general navigation…
Swarms evolving from collective behaviors among multiple individuals are commonly seen in nature, which enables biological systems to exhibit more efficient and robust collaboration. Creating similar swarm intelligence in engineered robots…
This paper investigates how learning can be used to ease the design of high-quality paths for the assembly of deformable objects. Object dynamics plays an important role when manipulating deformable objects; thus, detailed models are often…
In the literature, a distributed consensus protocol by which a connected swarm of agents can generate artistic patterns in 2-dimensional space is proposed. Motivated by this protocol, in this paper, we design the parameters of this protocol…
This paper proposes a novel control framework for robotic swarms capable of turning a musical input into a painting. The approach connects the two artistic domains, music and painting, leveraging their respective connections to fundamental…
Visual inspection is a crucial yet time-consuming task across various industries. Numerous established methods employ machine learning in inspection tasks, necessitating specific training data that includes predefined inspection poses and…