Related papers: Self-Healing Distributed Swarm Formation Control U…
Inspired by biological swarms, robotic swarms are envisioned to solve real-world problems that are difficult for individual agents. Biological swarms can achieve collective intelligence based on local interactions and simple rules; however,…
In this paper, we develop a distributed monitoring framework for robot swarms so that the agents can monitor whether the executions of robot swarms satisfy Swarm Signal Temporal Logic (SwarmSTL) formulas. We define generalized moments (GMs)…
A cooperative robot swarm is a collective of computationally-limited robots that share a common goal. Each robot can only interact with a small subset of its peers, without knowing how this affects the collective utility. Recent advances in…
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…
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 study the problem of controlling a two-dimensional robotic swarm with the purpose of achieving high level and complex spatio-temporal patterns. We use a rich spatio-temporal logic that is capable of describing a wide range…
In this work, we investigate swarm self-clustering, where robots autonomously organize into spatially coherent groups using only local sensing and decision-making, without external commands, global positioning, or inter-robot communication.…
Swarm robotic systems are mainly inspired by swarms of socials insects and the collective emergent behavior that arises from their cooperation at the lower lever. Despite the limited sensory ability, computational power, and communication…
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…
In this paper, we propose an approach to the distributed storage and fusion of data for collective perception in resource-limited robot swarms. We demonstrate our approach in a distributed semantic classification scenario. We consider a…
The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robots is particularly challenging in field deployments.…
In this paper, we use simulated swarms of robots to further explore the aggregation dynamics generated by these simple individual mechanisms. Our objective is to study the introduction of "informed robots", and to study how many of these…
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…
In swarm robotics, just as for an animal swarm in Nature, one of the aims is to reach and maintain a desired configuration. One of the possibilities for the team, to reach this aim, is to see what its neighbours are doing. This approach…
We propose a decentralized control algorithm for a minimalistic robotic swarm with limited capabilities such that the desired global behavior emerges. We consider the problem of searching for and encapsulating various targets present in the…
When individual robots have limited sensing capabilities or insufficient fault tolerance, it becomes necessary for multiple robots to form teams during exploration, thereby increasing the collective observation range and reliability.…
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…
Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot…
Swarm robots, inspired by the emergence of animal herds, are robots that assemble a large number of modules and self-organize themselves to form specific morphologies and exhibit specific functions. These modular robots perform relatively…
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…