Related papers: Collective phototactic robotectonics
Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been devoted to isolated improvements in…
This thesis studies the domain of collective robotics, and more particularly the optimization problems of multirobot systems in the context of exploration, path planning and coordination. It includes two contributions. The first one is the…
Motivated by the recent interest in cyber-physical and autonomous robotic systems, we study the problem of dynamically coupled multi-agent systems under a set of signal temporal logic tasks. In particular, the satisfaction of each of these…
Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…
This paper presents a position-based flocking model for interacting agents, balancing cohesion-separation and alignment to achieve stable collective motion. The model modifies a position-velocity-based approach by approximating velocity…
One of the main tasks for autonomous robot swarms is to collectively decide on the best available option. Achieving that requires a high quality communication between the agents that may not be always available in a real world environment.…
This paper presents a framework towards prompting multi-robot teams with high-level tasks using natural language expressions. Our objective is to use the reasoning capabilities demonstrated by recent language models in understanding and…
Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…
Smarticles, or smart active particles, are small robots equipped with only basic movement and sensing abilities that are incapable of rotating or displacing individually. We study the ensemble behavior of smarticles, i.e., the behavior a…
Many real-world tasks require agents to coordinate their behavior to achieve shared goals. Successful collaboration requires not only adopting the same communicative conventions, but also grounding these conventions in the same…
Current artificial intelligence systems show near-human-level capabilities when deployed in isolation. Systems of a few collaborating intelligent agents are being engineered to perform tasks collectively. This raises the question of whether…
Mobile microrobots are envisioned to be useful in a wide range of high-impact applications, many of which requiring cohesive group formation to maintain self-bounded swarms in the absence of confining boundaries. Cohesive group formation…
Collaborative manipulation task often requires negotiation using explicit or implicit communication. An important example is determining where to move when the goal destination is not uniquely specified, and who should lead the motion. This…
Collaborative human activities are grounded in social and moral norms, which humans consciously and subconsciously use to guide and constrain their decision-making and behavior, thereby strengthening their interactions and preventing…
Cooperative transport, the simultaneous movement of an object by multiple agents, has been widely observed in biological systems such as ant colonies, which improve efficiency and adaptability in dynamic environments. Inspired by these…
Turn-taking behaviour is simulated in a coupled agents system. Each agent is modelled as a mobile robot with two wheels. A recurrent neural network is used to produce the motor outputs and to hold the internal dynamics. Agents are developed…
Adaptation is the cornerstone of effective collaboration among heterogeneous team members. In human-agent teams, artificial agents need to adapt to their human partners in real time, as individuals often have unique preferences and policies…
Many cooperative physical tasks require that individuals play specialized roles (e.g., leader-follower). Humans are adept cooperators, negotiating these roles and transitions between roles innately. Yet how roles are delegated and…
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…
The field of Human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments,…