Related papers: Continuous Sculpting: Persistent Swarm Shape Forma…

The biologically-inspired swarm paradigm is being used to design self-organizing systems of locally interacting artificial agents. A major difficulty in designing swarms with desired characteristics is understanding the causal relation…

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…

Continuum robots possess high flexibility and redundancy, making them well suited for safe interaction in complex environments, yet their continuous deformation and nonlinear dynamics pose fundamental challenges to perception, modeling, and…

Mean-shift-based approaches have recently emerged as a representative class of methods for robot swarm shape assembly. They rely on image-based target-shape representations to compute local density gradients and perform mean-shift…

We investigate a class of continuum models for the motion of a two-dimensional biological group under the influence of nonlocal social interactions. The dynamics may be uniquely decomposed into incompressible motion and potential motion.…

This paper proposes a novel control framework for robotic swarms capable of turning a musical input into a painting. The approach connects the two artistic domains, music and painting, leveraging their respective connections to fundamental…

Robot swarms have been shown to improve the ability of individual robots by inter-robot collaboration. In this paper, we present the PuzzleBots - a low-cost robotic swarm system where robots can physically couple with each other to form…

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…

Self-organized emergent patterns can be widely seen in particle interactions producing complex structures such as chemical elements and molecules. Inspired by these interactions, this work presents a novel stochastic approach that allows a…

Applications of large-scale mobile multi-robot systems can be beneficial over monolithic robots because of higher potential for robustness and scalability. Developing controllers for multi-robot systems is challenging because the multitude…

Swarming behavior, where coherent motion emerges from the interactions of many mobile agents, is ubiquitous in physics and biology. Moreover, there are many efforts to replicate swarming dynamics in mobile robotic systems which take…

We present experimental results on the single file motion of a group of robots interacting with each other through position sensors. We successfully replicate the fundamental diagram typical of these systems, with a transition from free…

Collective intelligence and autonomy of robot swarms can be improved by enabling the individual robots to become aware they are the constituent units of a larger whole and what is their role. In this study, we present an algorithm to enable…

In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…

The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…

This paper deals with the classical problem of exploring a ring by a cohort of synchronous robots. We focus on the perpetual version of this problem in which it is required that each node of the ring is visited by a robot infinitely often.…

We studied the long-term dynamics of evolutionary Swarm Chemistry by extending the simulation length ten-fold compared to earlier work and by developing and using a new automated object harvesting method. Both macroscopic dynamics and…

We propose a novel algorithm for forming arbitrarily shaped assemblies using decentralized robots. By relying on local interactions, the algorithm ensures there are no unreachable states or gaps in the assembly, which are global properties.…

To accomplish complex swarm robotic missions in the real world, one needs to plan and execute a combination of single robot behaviors, group primitives such as task allocation, path planning, and formation control, and mission-specific…

Shape formation is a basic distributed problem for systems of computational mobile entities. Intensively studied for systems of autonomous mobile robots, it has recently been investigated in the realm of programmable matter. Namely, it has…