Related papers: Swarm Control of Magnetically Actuated Millirobots
We consider the following variant of the two dimensional gathering problem for swarms of robots: Given a swarm of $n$ indistinguishable, point shaped robots on a two dimensional grid. Initially, the robots form a closed chain on the grid…
This paper considers cooperative control of robots involving two different testbed systems in remote locations with communication on the internet. This provides us the capability to exchange robots status like positions, velocities and…
In the modular robot reconfiguration problem, we are given $n$ cube-shaped modules (or robots) as well as two configurations, i.e., placements of the $n$ modules so that their union is face-connected. The goal is to find a sequence of moves…
Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…
We present a closed-loop multi-arm motion planner that is scalable and flexible with team size. Traditional multi-arm robot systems have relied on centralized motion planners, whose runtimes often scale exponentially with team size, and…
The independent control of multiple magnetic microrobots under a shared global signal presents critical challenges in biomedical applications such as targeted drug delivery and microsurgeries. Most existing systems only allow all agents to…
Swarm User Interfaces allow dynamic arrangement of user environments through the use of multiple mobile robots, but their operational range is typically confined to a single plane due to constraints imposed by their two-wheel propulsion…
Truss robots, or robots that consist of extensible links connected at universal joints, are often designed with modular physical components but require centralized control techniques. This paper presents a distributed control technique for…
The biologically-inspired swarm paradigm is being used to design self-organizing systems of locally interacting artificial agents. A major difficulty in designing swarms with desired characteristics is understanding the causal relation…
Collective motion is one of the most fascinating phenomena observed in the nature. In the last decade, it aroused so much attention in physics, control and robotics fields. In particular, many studies have been done in swarm robotics…
The Kilobot is a widely used platform for investigation of swarm robotics. Physical Kilobots are slow moving and require frequent recalibration and charging, which significantly slows down the development cycle. Simulators can speed up the…
Swarm robots offer fascinating opportunities to perform complex tasks beyond the capabilities of individual machines. Just as a swarm of ants collectively moves a large object, similar functions can emerge within a group of robots through…
Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…
One central goal of robotics is to enable robots to interact with the physical world. Traditional manipulation studies primarily focus on single robots and relatively small objects. However, factory and domestic environments often require…
In this paper, we present a control framework that allows magnetic microrobot teams to accomplish complex micromanipulation tasks captured by global Linear Temporal Logic (LTL) formulas. To address this problem, we propose an optimal…
Robot swarms offer the potential to serve a variety of distributed sensing applications. An interesting real-world application that stands to benefit significantly from deployment of swarms is structural monitoring, where traditional sensor…
Millirobots are a promising robotic platform for many applications due to their small size and low manufacturing costs. Legged millirobots, in particular, can provide increased mobility in complex environments and improved scaling of…
In collective systems, the available agents are a limited resource that must be allocated among tasks to maximize collective performance. Computing the optimal allocation of several agents to numerous tasks through a brute-force approach…
This paper studies the problem of controlling a multi-robot system to achieve a polygon formation in a self-organized manner. Different from the typical formation control strategies where robots are steered to satisfy the predefined control…