Related papers: Source-Seeking Problem with Robot Swarms

In densely-packed robot swarms operating in confined regions, spatial interference -- which manifests itself as a competition for physical space -- forces robots to spend more time navigating around each other rather than performing the…

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…

This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…

We consider the trajectory replanning problem for a large-scale swarm in a cluttered environment. Our path planner replans for robots by utilizing a hierarchical approach, dividing the workspace, and computing collision-free paths for…

A contextual anomaly detection method is proposed and applied to the physical motions of a robot swarm executing a coverage task. Using simulations of a swarm's normal behavior, a normalizing flow is trained to predict the likelihood of a…

Flocking behavior has attracted considerable attention in multi-agent systems. The structure of flocking has been predominantly studied through the application of artificial potential fields coupled with velocity consensus. These…

This paper presents a method for choosing a Particle Swarm Optimization based optimizer for the Dynamic Vehicle Routing Problem on the basis of the initially available data of a given problem instance. The optimization algorithm is chosen…

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.…

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…

Particle swarm optimisation is a metaheuristic algorithm which finds reasonable solutions in a wide range of applied problems if suitable parameters are used. We study the properties of the algorithm in the framework of random dynamical…

The vast majority of existing Distributed Computing literature about mobile robotic swarms considers computability issues: characterizing the set of system hypotheses that enables problem solvability. By contrast, the focus of this work is…

Algorithms for multi-agent systems to locate a source or to follow a desired level curve of spatially distributed scalar fields generally require sharing field measurements among the agents for gradient estimation. Yet, in this paper, we…

This paper describes a technique for the autonomous mission planning of robotic swarms in high risk environments where agent disablement is likely. Given a swarm operating in a known area, a central command system generates measurements…

Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capabilities. It takes time for the robot to move between…

Many real-world phenomena can be modelled as dynamic optimization problems. In such cases, the environment problem changes dynamically and therefore, conventional methods are not capable of dealing with such problems. In this paper, a novel…

Planning balanced and collision-free motion for humanoid robots is non-trivial, especially when they are operated in complex environments, such as reaching targets behind obstacles or through narrow passages. We propose a method that allows…

We present a decentralized and scalable approach for deployment of a robot swarm. Our approach tackles scenarios in which the swarm must reach multiple spatially distributed targets, and enforce the constraint that the robot network cannot…

The dynamic of real-world optimization problems raises new challenges to the traditional particle swarm optimization (PSO). Responding to these challenges, the dynamic optimization has received considerable attention over the past decade.…

In the field of swarm robotics, the design and implementation of spatial density control laws has received much attention, with less emphasis being placed on performance evaluation. This work fills that gap by introducing an error metric…

In this paper, we address the problem of collision avoidance for a swarm of UAVs used for continuous surveillance of an urban environment. Our method, LSwarm, efficiently avoids collisions with static obstacles, dynamic obstacles and other…