Related papers: Self-Healing Distributed Swarm Formation Control U…
This paper introduces collaborating robots which provide the possibility of enhanced task performance, high reliability and decreased. Collaborating-bots are a collection of mobile robots able to self-assemble and to self-organize in order…
Given a swarm of limited-capability robots, we seek to automatically discover the set of possible emergent behaviors. Prior approaches to behavior discovery rely on human feedback or hand-crafted behavior metrics to represent and evolve…
More widespread adoption requires swarms of robots to be more flexible for real-world applications. Multiple challenges remain in complex scenarios where a large amount of data needs to be processed in real-time and high degrees of…
This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…
In this paper, we introduce a semi-decentralized control technique for a swarm of robots transporting a fragile object to a destination in an uncertain occluded environment.The proposed approach has been split into two parts. The initial…
Coordinated motion control in swarm robotics aims to ensure the coherence of members in space, i.e., the robots in a swarm perform coordinated movements to maintain spatial structures. This problem can be modeled as a tracking control…
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…
Many swarm robotics tasks consist of multiple conflicting objectives. This research proposes a multi-objective evolutionary neural network approach to developing controllers for swarms of robots. The swarm robot controllers are trained in a…
Collective perception is a foundational problem in swarm robotics, in which the swarm must reach consensus on a coherent representation of the environment. An important variant of collective perception casts it as a best-of-$n$…
As groups of robots increasingly collaborate with humans, understanding how humans perceive them is critical for designing effective human-robot teams. While prior research examined how humans interpret and evaluate the abilities and…
The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…
Due to its decentralised, distributed and scalable nature, swarm robotics has great potential for applications ranging from agriculture to environmental monitoring and logistics. Various swarm control methods and algorithms are currently…
With the rapid development of AI and robotics, transporting a large swarm of networked robots has foreseeable applications in the near future. Existing research in swarm robotics has mainly followed a bottom-up philosophy with predefined…
We present an experimental and theoretical study of 2-D swarms in which collective behavior emerges from both direct local mechanical coupling between agents and from the exchange and processing of information between agents. Each agent, an…
The density-distribution method has recently become a promising paradigm owing to its adaptability to variations in swarm size. However, existing studies face practical challenges in achieving complex shape representation and decentralized…
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…
Swarm behavior emerges from the local interaction of agents and their environment often encoded as simple rules. Extracting the rules by watching a video of the overall swarm behavior could help us study and control swarm behavior in…
Cooperative transport is a striking phenomenon where multiple agents join forces to transit a payload too heavy for the individual. While social animals such as ants are routinely observed to coordinate transport at scale, reproducing the…
This paper presents experiments for embedded cooperative distributed model predictive control applied to a team of hovercraft floating on an air hockey table. The hovercraft collectively solve a centralized optimal control problem in each…
Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…