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The emergence of vision catalysed a pivotal evolutionary advancement, enabling organisms not only to perceive but also to interact intelligently with their environment. This transformation is mirrored by the evolution of robotic systems,…
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…
Interacting individuals in complex systems often give rise to coherent motion exhibiting coordinated global structures. Such phenomena are ubiquitously observed in nature, from cell migration, bacterial swarms, animal and insect groups, and…
In the literature, a distributed consensus protocol by which a connected swarm of agents can generate artistic patterns in 2-dimensional space is proposed. Motivated by this protocol, in this paper, we design the parameters of this protocol…
In order to be effective general purpose machines in real world environments, robots not only will need to adapt their existing manipulation skills to new circumstances, they will need to acquire entirely new skills on-the-fly. A great…
Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…
For long-term simultaneous planning, localization and mapping (SPLAM), a robot should be able to continuously update its map according to the dynamic changes of the environment and the new areas explored. With limited onboard computation…
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 tackle the problem of learning complex, general behaviors directly in the real world. We propose an approach for robots to efficiently learn manipulation skills using only a handful of real-world interaction trajectories from many…
A robotic swarm may encounter traffic congestion when many robots simultaneously attempt to reach the same area. For solving that efficiently, robots must execute decentralised traffic control algorithms. In this work, we propose a measure…
Natural groups of animals, such as swarms of social insects, exhibit astonishing degrees of task specialization, useful to address complex tasks and to survive. This is supported by phenotypic plasticity: individuals sharing the same…
This paper considers cooperative control of robots involving two different testbed systems in remote locations with communication on the internet. This provides us the capability to exchange robots status like positions, velocities and…
It is known from both theory and experiments that introducing time delays into the communication network of mobile-agent swarms produces coherent rotational patterns. Often such spatio-temporal rotations can be bistable with other swarming…
Microscopic robots could perform tasks with high spatial precision, such as acting on precisely-targeted cells in biological tissues. Some tasks may benefit from robots that change shape, such as elongating to improve chemical gradient…
This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large…
The self-organizing behavior of swarms of inter- acting particles or agents is a topic of intense research in fields extending from biology to physics and robotics. In this paper, we carry out a systematic study of how the stable…
The deployment of simple emergent behaviors in swarm robotics has been well-rehearsed in the literature. A recent study has shown how self-aggregation is possible in a multitask approach -- where multiple self-aggregation task instances…
Autonomous robot swarms must be able to make fast and accurate collective decisions, but speed and accuracy are known to be conflicting goals. While collective decision-making is widely studied in swarm robotics research, only few works on…
Swarms of self-propelled particles exhibit complex behavior that can arise from simple models, with large changes in swarm behavior resulting from small changes in model parameters. We investigate the steady-state swarms formed by…
Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate…