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We consider a strong variant of the crash fault-tolerant gathering problem called stand-up indulgent gathering (SUIG), by robots endowed with limited visibility sensors and lights on line-shaped networks. In this problem, a group of mobile…
Consider unsupervised clustering of objects drawn from a discrete set, through the use of human intelligence available in crowdsourcing platforms. This paper defines and studies the problem of universal clustering using responses of crowd…
Collective perception is a fundamental problem in swarm robotics, often cast as best-of-$n$ decision-making. Past studies involve robots with perfect sensing or with small numbers of faulty robots. We previously addressed these limitations…
In recent years, the paradigm of cloud computing has emerged as an architecture for computing that makes use of distributed (networked) computing resources. In this paper, we consider a distributed computing algorithmic scheme for…
We present a distributed algorithm for a swarm of active particles to camouflage in an environment. Each particle is equipped with sensing, computation and communication, allowing the system to take color and gradient information from the…
This paper investigates a swarm of autonomous mobile robots in the Euclidean plane, under the semi-synchronous ($\cal SSYNC$) scheduler. Each robot has a target function to determine a destination point from the robots' positions. All…
Building a distributed spatial awareness within a swarm of locally sensing and communicating robots enables new swarm algorithms. We use local observations by robots of each other and Gaussian Belief Propagation message passing combined…
It is known that evolution strategies in continuous domains might not converge in the presence of noise. It is also known that, under mild assumptions, and using an increasing number of resamplings, one can mitigate the effect of additive…
Localization is a crucial task for autonomous mobile robots in order to successfully move to goal locations in their environment. Usually, this is done in a robot-centric manner, where the robot maintains a map with its body in the center.…
Flocking behavior has attracted considerable attention in multi-agent systems. The structure of flocking has been predominantly studied through the application of artificial potential fields coupled with velocity consensus. These…
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…
Self-stabilization is a versatile fault-tolerance approach that characterizes the ability of a system to eventually resume a correct behavior after any finite number of transient faults. In this paper, we propose a self-stabilizing reset…
A key requirement in robotics is the ability to simultaneously self-localize and map a previously unknown environment, relying primarily on onboard sensing and computation. Achieving fully onboard accurate simultaneous localization and…
Designing robotic systems that can change their physical form factor as well as their compliance to adapt to environmental constraints remains a major conceptual and technical challenge. To address this, we introduce the Granulobot, a…
In robot swarms operating under highly restrictive sensing and communication constraints, individuals may need to use direct physical proximity to facilitate information exchange. However, in certain task-related scenarios, this requirement…
In this paper, we propose a decentralized coordina- tion algorithm for safe and efficient management of a group of mobile robots following predefined paths in a dynamic industrial environment. The proposed algorithm is based on a shared…
Swarm robotics is envisioned to automate a large number of dirty, dangerous, and dull tasks. Robots have limited energy, computation capability, and communication resources. Therefore, current swarm robotics have a small number of robots,…
Effective collective decision-making in swarm robotics often requires balancing exploration, communication and individual uncertainty estimation, especially in hazardous environments where direct measurements are limited or costly. We…
Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot…
In this paper, we consider the problem of scattering a swarm of mobile oblivious robots in a continuous space. We consider the fully asynchronous setting where robots may base their computation on past observations, or may be observed by…