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The collective operation of robots, such as unmanned aerial vehicles (UAVs) operating as a team or swarm, is affected by their individual capabilities, which in turn is dependent on their physical design, aka morphology. However, with the…
Interesting and efficient collective behavior observed in multi-robot or swarm systems emerges from the individual behavior of the robots. The functional space of individual robot behaviors is in turn shaped or constrained by the robot's…
Morphological computing, the use of the physical design of a robot to ease the realization of a given task has been proven to be a relevant concept in the context of swarm robotics. Here we demonstrate both experimentally and numerically,…
Unraveling the nature of the communication model that governs which two individuals in a swarm interact with each other is an important line of inquiry in the collective behavior sciences. A number of models have been proposed in the…
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…
Swarm robotics is a creative method of organizing multi-robot structures, consisting of many basic robots influenced by communal insects. The greatest astonishing attribute of swarm robots is their capacity to function together to…
Optimizing the body and brain of a robot is a coupled challenge: the morphology determines what control strategies are effective, while the control parameters influence how well the morphology performs. This joint optimization can be done…
We introduce a method that permits to co-evolve the body and the control properties of robots. It can be used to adapt the morphological traits of robots with a hand-designed morphological bauplan or to evolve the morphological bauplan as…
The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient…
Whereas naturally occurring swarms thrive when crowded, physical interactions in robotic swarms are either avoided or carefully controlled, thus limiting their operational density. Here we present a mechanical design rule that allows robots…
Collective behaviours often need to be expressed through numerical features, e.g., for classification or imitation learning. This problem is often addressed by proposing an ad-hoc feature set for a particular swarm behaviour context,…
Robotic performance emerges from the coupling of body and controller, yet it remains unclear when morphology-control co-design is necessary. We present a unified framework that embeds morphology and control parameters within a single neural…
The co-adaptation of robots has been a long-standing research endeavour with the goal of adapting both body and behaviour of a system for a given task, inspired by the natural evolution of animals. Co-adaptation has the potential to…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
Robot swarms offer inherent robustness and the capacity to execute complex, collaborative tasks surpassing the capabilities of single-agent systems. Co-designing these systems is critical, as marginal improvements in individual performance…
Nature is an inhabitant for enormous number of species. All the species do perform complex activities with simple and elegant rules for their survival. The property of emergence of collective behavior is remarkably supporting their…
Co-designing a robot's morphology and control can ensure synergistic interactions between them, prevalent in biological organisms. However, co-design is a high-dimensional search problem. To make this search tractable, we need a systematic…
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…
Soft robotics holds transformative potential for enabling adaptive and adaptable systems in dynamic environments. However, the interplay between morphological and control complexities and their collective impact on task performance remains…
Collective decision-making is an essential capability of large-scale multi-robot systems to establish autonomy on the swarm level. A large portion of literature on collective decision-making in swarm robotics focuses on discrete decisions…