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In this paper, we propose SwarmNet -- a neural network architecture that can learn to predict and imitate the behavior of an observed swarm of agents in a centralized manner. Tested on artificially generated swarm motion data, the network…
Swarm robotics has experienced a rapid expansion in recent years, primarily fueled by specialized multi-robot systems developed to achieve dedicated collective actions. These specialized platforms are in general designed with swarming…
Effective collective decision-making in swarm robotics often requires balancing exploration, communication and individual uncertainty estimation, especially in hazardous environments where direct measurements are limited or costly. We…
Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…
Swarms of drones offer an increased sensing aperture, and having them mimic behaviors of natural swarms enhances sampling by adapting the aperture to local conditions. We demonstrate that such an approach makes detecting and tracking…
Robot swarms, systems of many robots that operate in a distributed fashion, have many applications in areas such as search-and-rescue, natural disaster response, and self-assembly. Several of these applications can be abstracted to the…
In the general pattern formation (GPF) problem, a swarm of simple autonomous, disoriented robots must form a given pattern. The robots' simplicity imply a strong limitation: When the initial configuration is rotationally symmetric, only…
The human brain's plasticity allows for the integration of artificial body parts into the human body. Leveraging this, embodied systems realize intuitive interactions with the environment. We introduce a novel concept: embodied swarm…
This paper presents a decentralized and asynchronous systematic solution for multi-robot autonomous navigation in unknown obstacle-rich scenes using merely onboard resources. The planning system is formulated under gradient-based local…
Past experiences under the designation of "Swarm Paintings" conducted in 2001, not only confirmed the possibility of realizing an artificial art (thus non-human), as introduced into the process the questioning of creative migration,…
We develop and analyze algorithms for dispersing a swarm of primitive robots in an unknown environment, R. The primary objective is to minimize the makespan, that is, the time to fill the entire region. An environment is composed of pixels…
State estimation is a fundamental requirement in robotics, where the accurate determination of a robot's state is essential for stable operation despite inherent process disturbances and sensor noise. Traditionally, this is achieved through…
COVID-19 pandemic has become a global challenge faced by people all over the world. Social distancing has been proved to be an effective practice to reduce the spread of COVID-19. Against this backdrop, we propose that the surveillance…
The mine detection in an unexplored area is an optimization problem where multiple mines, randomly distributed throughout an area, need to be discovered and disarmed in a minimum amount of time. We propose a strategy to explore an unknown…
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…
A key limitation of current multi-robot systems is a lack of relative localization, particularly in environments without GPS or motion capture systems. This article presents a centralized method for relatively localizing a 2D swarm using…
We present an approach to the distributed storage of data across a swarm of mobile robots that forms a shared global memory. We assume that external storage infrastructure is absent, and that each robot is capable of devoting a quota of…
Robot swarms are composed of many simple robots that communicate and collaborate to fulfill complex tasks. Robot controllers usually need to be specified by experts on a case-by-case basis via programming code. This process is…
Consider unsupervised clustering of objects drawn from a discrete set, through the use of human intelligence available in crowdsourcing platforms. This paper defines and studies the problem of universal clustering using responses of crowd…
To guide the movement of a robotic swarm in a corridor-like environment, a curve virtual tube with no obstacle inside is designed in our previous work. This paper generalizes the controller design to the condition that all robots have…