Related papers: Group-based control of large-scale micro-robot swa…
This paper investigates how a novel paradigm called group-control can be effectively used for motion planning for microrobot swarms in a global field. We prove that Small-Time Local Controllability (STLC) in robot positions is achievable…
We present a method for the control of robot swarms using two subsets of robots: a larger group of simple, oblivious robots (which we call the workers) that is governed by simple local attraction forces, and a smaller group (the guides)…
Collective control of mobile microrobotic swarms is indispensable for their potential high-impact applications in targeted drug delivery, medical diagnostics, parallel micromanipulation, and environmental sensing and remediation. Lack of…
Controlling large swarms of robotic agents has many challenges including, but not limited to, computational complexity due to the number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the swarm's…
Micro- and molecular-robotic systems act as large-scale swarms. Capabilities of sensing, communication and information processing are very limited on these scales. This short position paper describes a swarm-based minimalistic approach,…
Small-size robots offer access to spaces that are inaccessible to larger ones. This type of access is crucial in applications such as drug delivery, environmental detection, and collection of small samples. However, there are some tasks…
Microrobotics has the potential to revolutionize many applications including targeted material delivery, assembly, and surgery. The same properties that promise breakthrough solutions---small size and large populations---present unique…
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…
Controlling large swarms of robotic agents presents many challenges including, but not limited to, computational complexity due to a large number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the…
There have been numerous studies on the problem of flocking control for multiagent systems whose simplified models are presented in terms of point-mass elements. Meanwhile, full dynamic models pose some challenging problems in addressing…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
Consider a swarm of particles controlled by global inputs. This paper presents algorithms for shaping such swarms in 2D using boundary walls. The range of configurations created by conforming a swarm to a boundary wall is limited. We…
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…
In this paper we present control strategies for implementing reconfigurable planar microassmbly using multiple stress-engineered MEMS microrobots (MicroStressBots). A MicroStressBot is an electrostatic microrobot that consists of an…
This paper investigates efficient techniques to collect and concentrate an under-actuated particle swarm despite obstacles. Concentrating a swarm of particles is of critical importance in health-care for targeted drug delivery, where…
We propose a decentralized control algorithm for a minimalistic robotic swarm with limited capabilities such that the desired global behavior emerges. We consider the problem of searching for and encapsulating various targets present in the…
Many new methodologies for the control of large-scale multi-agent systems are based on macroscopic representations of the emerging system dynamics, in the form of continuum approximations of large ensembles. These techniques, that are…
With the rapid development of AI and robotics, transporting a large swarm of networked robots has foreseeable applications in the near future. Existing research in swarm robotics has mainly followed a bottom-up philosophy with predefined…
Controlling large swarms of robotic agents presents many challenges including, but not limited to, computational complexity due to a large number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the…