Related papers: Computer Aided Formal Design of Swarm Robotics Alg…
Purpose: To present an algorithm for spatially sorting objects into an annular structure. Design/Methodology/Approach: A swarm-based model that requires only stochastic agent behaviour coupled with a pheromone-inspired…
Swarm robotics is the study of how a large number of relatively simple robots can be designed so that a desired collective behaviour emerges from the local interactions among robots and between the robots and their environment. While many…
Swarm behaviour engineering is an area of research that seeks to investigate methods and techniques for coordinating computation and action within groups of simple agents to achieve complex global goals like pattern formation, collective…
Formal Methods are mathematically-based techniques for software design and engineering, which enable the unambiguous description of and reasoning about a system's behaviour. Autonomous systems use software to make decisions without human…
Formal Modelling is often used as part of the design and testing process of software development to ensure that components operate within suitable bounds even in unexpected circumstances. In this paper, we use predictive formal modelling…
Swarm robotics has experienced a rapid expansion in recent years, primarily fueled by specialized multi-robot systems developed to achieve dedicated collective actions. These specialized platforms are in general designed with swarming…
We study the limits of linear modeling of swarm behavior by characterizing the inflection point beyond which linear models of swarm collective behavior break down. The problem we consider is a central place object gathering task. We design…
We propose a novel framework for real-time communication-aware coverage control in networked robot swarms. Our framework unifies the robot dynamics with network-level message-routing to reach consensus on swarm formations in the presence of…
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…
This paper introduce a software system including widely-used Swarm Intelligence algorithms or approaches to be used for the related scientific research studies associated with the subject area. The programmatic infrastructure of the system…
Collective behaviours often need to be expressed through numerical features, e.g., for classification or imitation learning. This problem is often addressed by proposing an ad-hoc feature set for a particular swarm behaviour context,…
Robot swarm is a hot spot in robotic research community. In this paper, we propose a decentralized framework for car-like robotic swarm which is capable of real-time planning in cluttered environments. In this system, path finding is guided…
Coordination of movement and configuration in robotic swarms is a challenging endeavor. Deciding when and where each individual robot must move is a computationally complex problem. The challenge is further exacerbated by difficulties…
Formal patterns are formally specified solutions to frequently occurring distributed system problems that are generic, executable, and come with strong qualitative and/or quantitative formal guarantees. A formal pattern is a generic system…
The safety of automated driving systems must be justified by convincing arguments and supported by compelling evidence to persuade certification agencies, regulatory entities, and the general public to allow the systems on public roads.…
We propose a conceptual, empirically testable framework for Robot Fostering, -a curriculum-driven, governance-first approach to domestic robot deployments, emphasizing long-term, curated interaction trajectories. We formalize trajectory…
Modern cities are growing ecosystems that face new challenges due to the increasing population demands. One of the many problems they face nowadays is waste management, which has become a pressing issue requiring new solutions. Swarm…
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…
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,…
Robotics and Autonomous Systems are increasingly deployed in safety-critical domains, so that demonstrating their safety is essential. Assurance Cases (ACs) provide structured arguments supported by evidence, but generating and maintaining…