Related papers: Self-organizing Nervous Systems for Robot Swarms
Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with…
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.…
We present Neural-Swarm2, a learning-based method for motion planning and control that allows heterogeneous multirotors in a swarm to safely fly in close proximity. Such operation for drones is challenging due to complex aerodynamic…
Swarming systems, such as drone fleets and robotic teams, exhibit complex dynamics driven by both individual behaviors and emergent group-level interactions. Unlike traditional multi-agent domains such as pedestrian crowds or traffic…
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 communication is key to successful, decentralized, multi-robot path planning. Yet, it is far from obvious what information is crucial to the task at hand, and how and when it must be shared among robots. To side-step these issues…
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…
Algorithms implementing populations of agents which interact with one another and sense their environment may exhibit emergent behavior such as self-organization and swarm intelligence. Here a swarm system, called Databionic swarm (DBS), is…
We present a set of metrics intended to supplement designer intuitions when designing swarm-robotic systems, increase accuracy in extrapolating swarm behavior from algorithmic descriptions and small test experiments, and lead to faster and…
Safe and efficient navigation through human crowds is an essential capability for mobile robots. Previous work on robot crowd navigation assumes that the dynamics of all agents are known and well-defined. In addition, the performance of…
Collaboration in large robot swarms to achieve a common global objective is a challenging problem in large environments due to limited sensing and communication capabilities. The robots must execute a Perception-Action-Communication (PAC)…
A generic architecture for a class of distributed robotic systems is presented. The architecture supports openness and heterogeneity, i.e. heterogeneous components may be joined and removed from the systems without affecting its basic…
Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…
Robot swarm is a hot spot in robotic research community. In this paper, we propose a decentralized framework for car-like robotic swarm which is capable of real-time planning in cluttered environments. In this system, path finding is guided…
This paper presents a new algorithm for autonomous multitarget tracking of resident space objects using optical angles-only measurements from a spaceborne observer. To enable autonomous angles-only navigation of spacecraft swarms, an…
We consider the problem of organizing a scattered group of $n$ robots in two-dimensional space, with geometric maximum distance $D$ between robots. The communication graph of the swarm is connected, but there is no central authority for…
In this paper we study multi robot cooperative task allocation issue in a situation where a swarm of robots is deployed in a confined unknown environment where the number of colored spots which represent tasks and the ratios of them are…
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…
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…
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…