Related papers: Swarm Self Clustering for Communication denied Env…
Swarm robotic systems are systems in which multiple robots having simple functionality perform tasks through their cooperation, and are advantageous in that they can exhibit non-trivial macroscopic functions such as adaptability, fault…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
Collective decision-making is a key function of autonomous robot swarms, enabling them to reach a consensus on actions based on environmental features. Existing strategies require the participation of all robots in the decision-making…
Human-swarm interaction is facilitated by a low-dimensional encoding of the swarm formation, independent of the (possibly large) number of robots. We propose using image moments to encode two-dimensional formations of robots. Each robot…
This paper investigates efficient techniques to collect and concentrate an under-actuated particle swarm despite obstacles. Concentrating a swarm of particles is of critical importance in health-care for targeted drug delivery, where…
Robotic swarms and mobile sensor networks are used for environmental monitoring in various domains and areas of operation. Especially in otherwise inaccessible environments decentralized robotic swarms can be advantageous due to their high…
Collaborative Simultaneous Localization And Mapping (C-SLAM) is a vital component for successful multi-robot operations in environments without an external positioning system, such as indoors, underground or underwater. In this paper, we…
Abruptions to the communication infrastructure happens occasionally, where manual dedicated personnel will go out to fix the interruptions, restoring communication abilities. However, sometimes this can be dangerous to the personnel…
The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…
Robotic shepherding is a bio-inspired approach to autonomously guiding a swarm of agents towards a desired location. The research area has earned increasing research interest recently due to the efficacy of controlling a large number of…
To accomplish complex swarm robotic missions in the real world, one needs to plan and execute a combination of single robot behaviors, group primitives such as task allocation, path planning, and formation control, and mission-specific…
Swarm systems consist of large numbers of robots that collaborate autonomously. With an appropriate level of human control, swarm systems could be applied in a variety of contexts ranging from search-and-rescue situations to Cyber defence.…
A swarm robotic system consists of a team of robots performing cooperative tasks without any centralized coordination. In principle, swarms enable flexible and scalable solutions; however, designing individual control algorithms that can…
The collective ability of organisms to move coherently in space and time is ubiquitous in any group of autonomous agents that can move and sense each other and the environment. Here we investigate the origin of collective motion and its…
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…
Aggregation is a fundamental behavior for swarm robotics that requires a system to gather together in a compact, connected cluster. In 2014, Gauci et al. proposed a surprising algorithm that reliably achieves swarm aggregation using only a…
This article presents a unique framework for deploying decentralized and infrastructure-independent swarms of homogeneous aerial vehicles in the real world without explicit communication. This is a requirement in swarm research, which…
We present a decentralized control algorithm for a minimalist robotic swarm lacking memory, explicit communication, or relative position information, to encapsulate multiple diffusive target sources in a bounded environment. The…
In this paper, we present the Swarming Without an Anchor (SWA) approach to state estimation in swarms of Unmanned Aerial Vehicles (UAVs) experiencing ego-localization dropout, where individual agents are laterally stabilized using relative…
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…