Related papers: A Self-Guided Approach for Navigation in a Minimal…
The subject is the localization problem of an underwater swarm of autonomous underwater robots (AUV), in the frame of the HARNESS project; by localization, we mean the relative swarm configuration, i.e., the geometrical shape of the group.…
We investigate the algorithmic problem of uniformly dispersing a swarm of robots in an unknown, gridlike environment. In this setting, our goal is to study the relationships between performance metrics and robot capabilities. We introduce a…
Unmanned Aerial Vehicles (UAVs) dynamic encirclement is an emerging field with great potential. Researchers often get inspiration from biological systems, either from macro-world like fish schools or bird flocks etc, or from micro-world…
Autonomous modeling of artificial swarms is necessary because manual creation is a time intensive and complicated procedure which makes it impractical. An autonomous approach employing deep reinforcement learning is presented in this study…
Localized communication in swarms has been shown to increase swarm effectiveness in some situations by allowing for additional opportunities for cooperation. However, communication and utilization of potentially outdated information is also…
Task allocation is an important problem for robot swarms to solve, allowing agents to reduce task completion time by performing tasks in a distributed fashion. Existing task allocation algorithms often assume prior knowledge of task…
This work is devoted to communication approaches, which spread information in robot swarms. These mechanisms are useful for large-scale systems and also for such cases when a limited communication equipment does not allow routing of…
The main contribution of this paper is a novel method allowing an external observer/controller to steer and guide swarms of identical and indistinguishable agents, in spite of the agents' lack of information on absolute location and…
Collective movement inspired by animal groups promises inherited benefits for robot swarms, such as enhanced sensing and efficiency. However, while animals move in groups using only their local senses, robots often obey central control or…
The current state of electronic component miniaturization coupled with the increasing efficiency in hardware and software allow the development of smaller and compact robotic systems. The convenience of using these small, simple, yet…
Robot swarms, systems of many robots that operate in a distributed fashion, have many applications in areas such as search-and-rescue, natural disaster response, and self-assembly. Several of these applications can be abstracted to the…
High efficient routing is an important issue in the design of limited energy resource Wireless Sensor Networks (WSNs). Due to the characteristic of the environment at which the sensor node is to operate, coupled with severe resources;…
Nature is an inhabitant for enormous number of species. All the species do perform complex activities with simple and elegant rules for their survival. The property of emergence of collective behavior is remarkably supporting their…
We present a decentralized control algorithm for a minimalist robotic swarm lacking memory, explicit communication, or relative position information, to encapsulate multiple diffusive target sources in a bounded environment. The…
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…
Several distributed algorithms are presented for the exploration of unknown indoor regions by a swarm of flying, energy constrained agents. The agents, which are identical, autonomous, anonymous and oblivious, uniformly cover the region and…
We consider the problem of organizing a scattered group of $n$ robots in two-dimensional space, with geometric maximum distance $D$ between robots. The communication graph of the swarm is connected, but there is no central authority for…
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,…
Artificially evolving foraging behavior in simulated legged animals has proved to be a notoriously difficult task. Here, we co-evolve the morphology and controller for virtual organisms in a three-dimensional physically realistic…
A decentralized swarm approach for the fast cooperative flight of Unmanned Aerial Vehicles (UAVs) in feature-poor environments without any external localization and communication is introduced in this paper. A novel model of a UAV…