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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…

In comparison with existing approaches, which struggle with scalability, communication dependency, and robustness against dynamic failures, cooperative aerial transportation via robot swarms holds transformative potential for logistics and…

Biological swarms, such as ant colonies, achieve collective goals through decentralized and stochastic individual behaviors. Similarly, physical systems composed of gases, liquids, and solids exhibit random particle motion governed by…

Swarm robotic systems are currently being used to address many real-world problems. One interesting application of swarm robotics is the self-organized formation of structures and shapes. Some of the key challenges in the swarm robotic…

We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric…

In this paper, we introduce a semi-decentralized control technique for a swarm of robots transporting a fragile object to a destination in an uncertain occluded environment.The proposed approach has been split into two parts. The initial…

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…

In this paper, we present a heterogeneous robot swarm system that can physically couple with each other to form functional structures and dynamically decouple to perform individual tasks. The connection between robots can be formed with a…

Collective intelligence and autonomy of robot swarms can be improved by enabling the individual robots to become aware they are the constituent units of a larger whole and what is their role. In this study, we present an algorithm to enable…

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 study the problem of reducing the amount of communication in decentralized target tracking. We focus on the scenario where a team of robots are allowed to move on the boundary of the environment. Their goal is to seek a formation so as…

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…

In robot swarms operating under highly restrictive sensing and communication constraints, individuals may need to use direct physical proximity to facilitate information exchange. However, in certain task-related scenarios, this requirement…

This paper investigates the role of communication in improving coordination within robot swarms, focusing on a paradigm where learning and execution occur simultaneously in a decentralized manner. We highlight the role communication can…

This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where…

Coordinated collective motion in bird flocks and fish schools inspires algorithms for cohesive swarm robotics. This paper presents a position-based flocking model that achieves persistent velocity alignment without velocity sensing. By…

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…

The collective performance or capacity of collaborative autonomous systems such as a swarm of robots is jointly influenced by the morphology and the behavior of individual systems in that collective. In that context, this paper explores how…

Currently, the general aim of flocking and formation control laws for multi-agent systems is to form and maintain a rigid configuration, such as, the alpha-lattices in flocking control methods, where the desired distance between each pair…

Automatic design is a promising approach to realizing robot swarms. Given a mission to be performed by the swarm, an automatic method produces the required control software for the individual robots. Automatic design has concentrated on…