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Self-organized emergent patterns can be widely seen in particle interactions producing complex structures such as chemical elements and molecules. Inspired by these interactions, this work presents a novel stochastic approach that allows a…
Autonomous robots may be able to adapt their behavior in response to changes in the environment. This is useful, for example, to efficiently handle limited resources or to respond appropriately to unexpected events such as faults. The…
For aerial swarms, navigation in a prescribed formation is widely practiced in various scenarios. However, the associated planning strategies typically lack the capability of avoiding obstacles in cluttered environments. To address this…
We propose a decentralized algorithm to collaboratively transport arbitrarily shaped objects using a swarm of robots. Our approach starts with a task allocation phase that sequentially distributes locations around the object to be…
Autonomous modeling of artificial swarms is necessary because manual creation is a time intensive and complicated procedure which makes it impractical. An autonomous approach employing deep reinforcement learning is presented in this study…
Unmanned Aerial Vehicles (UAVs) dynamic encirclement is an emerging field with great potential. Researchers often get inspiration from biological systems, either from macro-world like fish schools or bird flocks etc, or from micro-world…
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…
The autonomous formation flight of fixed-wing drones is hard when the coordination requires the actuation over their speeds since they are critically bounded and aircraft are mostly designed to fly at a nominal airspeed. This paper proposes…
An occlusion based strategy for collective transport of a concave object using a swarm of mobile robots has been proposed in this paper. We aim to overcome the challenges of transporting concave objects using decentralized approach. The…
Active matter physics and swarm robotics have provided powerful tools for the study and control of ensembles driven by internal sources. At the macroscale, controlling swarms typically utilizes significant memory, processing power, and…
Unlike their biological cousins, the majority of existing quadrupedal robots are constructed with rigid chassis. This results in motion that is either beetle-like or distinctly robotic, lacking the natural fluidity characteristic of…
Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
We consider the problem of organizing a scattered group of $n$ robots in two-dimensional space, with geometric maximum distance $D$ between robots. The communication graph of the swarm is connected, but there is no central authority for…
Multi-swarm systems, where two or more swarms of mobile agents occupy the same region of space with different parameters and goals, occur in a variety of biological, engineering, and defense applications. Composites of multiple swarms can…
This paper presents a distributed painting algorithm for painting a priori known rectangular region by swarm of autonomous mobile robots. We assume that the region is obstacle free and of rectangular in shape. The basic approach is to…
In this paper, we consider stochastic coverage of bounded domains by a diffusing swarm of robots that take local measurements of an underlying scalar field. We introduce three control methodologies with diffusion, advection, and reaction as…
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…
This paper solves the problem of herding countless evaders by means of a few robots. The objective is to steer all the evaders towards a desired tracking reference while avoiding escapes. The problem is very challenging due to the highly…
An important problem in microrobotics is how to control a large group of microrobots with a global control signal. This paper focuses on controlling a large-scale swarm of MicroStressBots with on-board physical finite-state machines. We…