Related papers: Environment induced emergence of collective behavi…
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 collective robotic systems, the automatic generation of controllers for complex tasks is still a challenging problem. Open-ended evolution of complex robot behaviors can be a possible solution whereby an intrinsic driver for pattern…
Many swarm robotics tasks consist of multiple conflicting objectives. This research proposes a multi-objective evolutionary neural network approach to developing controllers for swarms of robots. The swarm robot controllers are trained in a…
A robotic swarm that is required to operate for long periods in a potentially unknown environment can use both evolution and individual learning methods in order to adapt. However, the role played by the environment in influencing the…
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…
Understanding the mechanisms behind emergent behaviors in multi-agent systems is critical for advancing fields such as swarm robotics and artificial intelligence. In this study, we investigate how neural networks evolve to control agents'…
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…
Robot swarms often exhibit emergent behaviors that are fascinating to observe; however, it is often difficult to predict what swarm behaviors can emerge under a given set of agent capabilities. We seek to efficiently leverage human input to…
Applications of large-scale mobile multi-robot systems can be beneficial over monolithic robots because of higher potential for robustness and scalability. Developing controllers for multi-robot systems is challenging because the multitude…
Interacting individuals in complex systems often give rise to coherent motion exhibiting coordinated global structures. Such phenomena are ubiquitously observed in nature, from cell migration, bacterial swarms, animal and insect groups, and…
Drones which can swarm and loiter in a certain area cost hundreds of dollars, but mosquitos can do the same and are essentially worthless. To control swarms of low-cost robots, researchers may end up spending countless hours brainstorming…
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…
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…
This study proposes an event-based reconfiguration control to navigate a robot swarm through challenging environments with narrow passages such as valleys, tunnels, and corridors. The robot swarm is modeled as an undirected graph, where…
We study the problem of determining the emergent behaviors that are possible given a functionally heterogeneous swarm of robots with limited capabilities. Prior work has considered behavior search for homogeneous swarms and proposed the use…
Autonomous robot swarms must be able to make fast and accurate collective decisions, but speed and accuracy are known to be conflicting goals. While collective decision-making is widely studied in swarm robotics research, only few works on…
Swarm behavior emerges from the local interaction of agents and their environment often encoded as simple rules. Extracting the rules by watching a video of the overall swarm behavior could help us study and control swarm behavior in…
While it is relatively easy to imitate and evolve natural swarm behavior in simulations, less is known about the social characteristics of simulated, evolved swarms, such as the optimal (evolutionary) group size, why individuals in a swarm…
We propose an approach of open-ended evolution via the simulation of swarm dynamics. In nature, swarms possess remarkable properties, which allow many organisms, from swarming bacteria to ants and flocking birds, to form higher-order…
Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…