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The self-organizing behavior of swarms of inter- acting particles or agents is a topic of intense research in fields extending from biology to physics and robotics. In this paper, we carry out a systematic study of how the stable…
Heterogeneous Multi-Embodied Agent Systems involve coordinating multiple embodied agents with diverse capabilities to accomplish tasks in dynamic environments. This process requires the collection, generation, and consumption of massive,…
Swarm behaviour engineering is an area of research that seeks to investigate methods and techniques for coordinating computation and action within groups of simple agents to achieve complex global goals like pattern formation, collective…
Swarm verification and parallel randomised depth-first search are very effective parallel techniques to hunt bugs in large state spaces. In case bugs are absent, however, scalability of the parallelisation is completely lost. In recent…
Swarming behavior continues to be a subject of immense interest because of its centrality in many naturally occurring systems in physics and biology, as well as its importance in applications such as robotics. Here we examine the effects on…
We present a system to coordinate 'urban mobility swarms' in order to promote the use and safety of lightweight, sustainable transit, while enhancing the vibrancy and community fabric of cities. This work draws from behavior exhibited by…
Supercomputers have revolutionized how industries and scientific fields process large amounts of data. These machines group hundreds or thousands of computing nodes working together to execute time-consuming programs that require a large…
Swarm intelligence is the collective behavior emerging in systems with locally interacting components. Because of their self-organization capabilities, swarm-based systems show essential properties for handling real-world problems such as…
In this paper, we present algorithms for synthesizing controllers to distribute a group (possibly swarms) of homogeneous robots (agents) over heterogeneous tasks which are operated in parallel. We present algorithms as well as analysis for…
We explore a simplified class of models we call swarms, which are inspired by the collective behavior of social insects. We perform a mean-field stability analysis and perform numerical simulations of the model. Several interesting types of…
As artificial intelligence engineering paradigms shift from single-agent Prompt and Context Engineering toward multi-agent \textbf{Coordination Engineering}, the ability to codify and systematically improve how multiple agents collaborate…
Workflows are among the most commonly used tools in a variety of execution environments. Many of them target a specific environment; few of them make it possible to execute an entire workflow in different environments, e.g. Kubernetes and…
An open research question has been whether a single human can supervise a true heterogeneous swarm of robots completing tasks in real world environments. A general concern is whether or not the human's workload will be taxed to the breaking…
We sketch a simple language of concurrent objects which explores the design space between type systems and continuous testing. In our language, programs are collections of communicating automata checked automatically for multiparty…
Heterogeneous systems of active matter exhibit a range of complex emergent dynamical patterns. In particular, it is difficult to predict the properties of the mixed system based on its constituents. These considerations are particularly…
This paper studies global and semi-global regulated state synchronization of homogeneous networks of non-introspective agents in presence of input saturation based on additional information exchange where the reference trajectory is given…
Taskflow aims to streamline the building of parallel and heterogeneous applications using a lightweight task graph-based approach. Taskflow introduces an expressive task graph programming model to assist developers in the implementation of…
We present Neural-Swarm2, a learning-based method for motion planning and control that allows heterogeneous multirotors in a swarm to safely fly in close proximity. Such operation for drones is challenging due to complex aerodynamic…
As the Moore's scaling era comes to an end, application specific hardware accelerators appear as an attractive way to improve the performance and power efficiency of our computing systems. A massively heterogeneous system with a large…
The linear threshold model (LTM) has been used to study spread on single-layer networks defined by one inter-agent sensing modality and agents homogeneous in protocol. We define and analyze the heterogeneous multiplex LTM to study spread on…