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Swarm robotics is the study of how a large number of relatively simple robots can be designed so that a desired collective behaviour emerges from the local interactions among robots and between the robots and their environment. While many…
Imagine that a swarm of robots is given, these robots must communicate with each other, and they can do so if certain conditions are met. We say that the swarm is connected if there is at least one way to send a message between each pair of…
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…
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…
Living cells exhibit both growth and regeneration of body tissues. Epigenetic Tracking (ET), models this growth and regenerative qualities of living cells and has been used to generate complex 2D and 3D shapes. In this paper, we present an…
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…
Many new methodologies for the control of large-scale multi-agent systems are based on macroscopic representations of the emerging system dynamics, in the form of continuum approximations of large ensembles. These techniques, that are…
In this paper we propose a control framework that enables robots to execute tasks persistently, i.e., over time horizons much longer than robots' battery life. This is achieved by ensuring that the energy stored in the batteries of the…
Signal source seeking using autonomous vehicles is a complex problem. The complexity increases manifold when signal intensities captured by physical sensors onboard are noisy and unreliable. Added to the fact that signal strength decays…
Artificial swarm systems have been extensively studied and used in computer science, robotics, engineering and other technological fields, primarily as a platform for implementing robust distributed systems to achieve pre-defined…
Bio-hybrid systems---close couplings of natural organisms with technology---are high potential and still underexplored. In existing work, robots have mostly influenced group behaviors of animals. We explore the possibilities of mixing…
Continuum robots (CRs), owing to their compact structure, inherent compliance, and flexible deformation, have been widely applied in various fields. By coordinating multiple CRs to form collaborative continuum robots (CCRs), task…
With the rapid development of robot swarm technology and its diverse applications, navigating robot swarms through complex environments has emerged as a critical research direction. To ensure safe navigation and avoid potential collisions…
Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…
In a robotic swarm, parameters such as position and proximity to the target can be described in terms of probability amplitudes. This idea led to recent studies on a quantum approach to the definition of the swarm, including a block-matrix…
We consider the problem of completely covering an unknown discrete environment with a swarm of asynchronous, frequently-crashing autonomous mobile robots. We represent the environment by a discrete graph, and task the robots with occupying…
Quadruped robots have emerged as an evolving technology that currently leverages simulators to develop a robust controller capable of functioning in the real-world without the need for further training. However, since it is impossible to…
Robots capable of performing manipulation tasks in a broad range of missions in unstructured environments can develop numerous applications to impact and enhance human life. Existing work in robot learning has shown success in applying…
We propose a self-contained, resilient and fully distributed solution for locating the maximum of an unknown scalar field using a swarm of robots that travel at a constant speed. Unlike conventional reactive methods relying on gradient…
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…