Related papers: Swarm Self Clustering for Communication denied Env…
The problem of robotic synchronisation and coordination is a long-standing one. Combining autonomous, computerised systems with unpredictable real-world conditions can have consequences ranging from poor performance to collisions and…
We present the first decentralized multi-copter flock that performs stable autonomous outdoor flight with up to 10 flying agents. By decentralized and autonomous we mean that all members navigate themselves based on the dynamic information…
Gathering is a fundamental coordination problem in swarm robotics, where the objective is to bring robots together at a point not known to them at the beginning. While most research focuses on continuous domains, some studies also examine…
In this paper, we address the shape formation problem for massive robot swarms in environments where external localization systems are unavailable. Achieving this task effectively with solely onboard measurements is still scarcely explored…
Effective multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate in a completely decentralized…
Swarm systems constitute a challenging problem for reinforcement learning (RL) as the algorithm needs to learn decentralized control policies that can cope with limited local sensing and communication abilities of the agents. While it is…
We present a number of powerful local mechanisms for maintaining a dynamic swarm of robots with limited capabilities and information, in the presence of external forces and permanent node failures. We propose a set of local continuous…
We consider a swarm of $n$ autonomous mobile robots, distributed on a 2-dimensional grid. A basic task for such a swarm is the gathering process: All robots have to gather at one (not predefined) place. A common local model for extremely…
The subject is the localization problem of an underwater swarm of autonomous underwater robots (AUV), in the frame of the HARNESS project; by localization, we mean the relative swarm configuration, i.e., the geometrical shape of the group.…
Cyborg insects refer to hybrid robots that integrate living insects with miniature electronic controllers to enable robotic-like programmable control. These creatures exhibit advantages over conventional robots in adaption to complex…
This paper introduces a distributed leaderless swarm formation control framework to address the problem of collectively driving a swarm of robots to track a time-varying formation. The swarm's formation is captured by the trajectory of an…
Smooth coordination within a swarm robotic system is essential for the effective execution of collective robot missions. Having efficient communication is key to the successful coordination of swarm robots. This paper proposes a new…
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…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
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…
The system architecture controlling a group of robots is generally set before deployment and can be either centralized or decentralized. This dichotomy is highly constraining, because decentralized systems are typically fully self-organized…
This paper introduces a novel bio-mimetic approach for distributed control of robotic swarms, inspired by the collective behaviors of swarms in nature such as schools of fish and flocks of birds. The agents are assumed to have limited…
Autonomous drone swarms deployed for surveillance, environmental monitoring, and infrastructure inspection must maintain reliable coverage of critical assets despite robot failures. This requires multicoverage: each asset must be observed…
We present a biologically inspired design for swarm foraging based on ant's pheromone deployment, where the swarm is assumed to have very restricted capabilities. The robots do not require global or relative position measurements and the…
Despite their growing popularity, swarms of robots remain limited by the operating time of each individual. We present algorithms which allow a human to sculpt a swarm of robots into a shape that persists in space perpetually, independent…