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Finding the distant source of an odor dispersed by a turbulent flow is a vital task for many organisms, either for foraging or for mating purposes. At the level of individual search, animals like moths have developed effective strategies to…
Olfactory navigation is one of the most primitive mechanisms of exploration used by organisms. Navigation by machine olfaction (artificial smell) is a very difficult task to both simulate and solve. With this work, we define olfactory…
Olfaction sensing in autonomous robotics faces challenges in dynamic operations, energy efficiency, and edge processing. It necessitates a machine learning algorithm capable of managing real-world odor interference, ensuring resource…
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…
We present an augmented reality human-swarm interface that combines two modalities of interaction: environment-oriented and robot-oriented. The environment-oriented modality allows the user to modify the environment (either virtual or…
Unmanned Aerial Vehicles (UAVs) have a great potential to support search tasks in unstructured environments. Small, lightweight, low speed and agile UAVs, such as multi-rotors platforms can incorporate many kinds of sensors that are…
The vast majority of existing Distributed Computing literature about mobile robotic swarms considers computability issues: characterizing the set of system hypotheses that enables problem solvability. By contrast, the focus of this work is…
We present a set of metrics intended to supplement designer intuitions when designing swarm-robotic systems, increase accuracy in extrapolating swarm behavior from algorithmic descriptions and small test experiments, and lead to faster and…
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…
Optimal transport (OT) is a framework that can guide the design of efficient resource allocation strategies in a network of multiple sources and targets. This paper applies discrete OT to a swarm of UAVs in a novel way to achieve…
In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm…
This research proposed an intelligent obstacle avoidance algorithm to navigate an autonomous mobile robot. The presented Intelligent Bug Algorithm (IBA) over performs and reaches the goal in relatively less time as compared to existing Bug…
Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…
This paper describes a technique for the autonomous mission planning of robotic swarms in high risk environments where agent disablement is likely. Given a swarm operating in a known area, a central command system generates measurements…
When individual robots have limited sensing capabilities or insufficient fault tolerance, it becomes necessary for multiple robots to form teams during exploration, thereby increasing the collective observation range and reliability.…
Recent advances have improved autonomous navigation and mapping under payload constraints, but current multi-robot inspection algorithms are unsuitable for nano-drones due to their need for heavy sensors and high computational resources. To…
In this paper, we use simulated swarms of robots to further explore the aggregation dynamics generated by these simple individual mechanisms. Our objective is to study the introduction of "informed robots", and to study how many of these…
Designing controllers for robot swarms is challenging, because human developers have typically no good understanding of the link between the details of a controller that governs individual robots and the swarm behavior that is an indirect…
Olfactory search in turbulent environments is a sensorimotor challenge solved with remarkable efficiency by many animals, yet replicating this ability in artificial systems remains difficult because detections are intermittent and wind…
There has been a growing interest in autonomous systems designed to operate in adverse conditions (e.g. smoke, dust), where the visible light spectrum fails. In this context, Ultra-wideband (UWB) radar is capable of penetrating through such…