Related papers: Source-Seeking Problem with Robot Swarms
Modern robotics is gravitating toward increasingly collaborative human robot interaction. Tools such as acceleration policies can naturally support the realization of reactive, adaptive, and compliant robots. These tools require us to model…
Collective perception is a foundational problem in swarm robotics, in which the swarm must reach consensus on a coherent representation of the environment. An important variant of collective perception casts it as a best-of-$n$…
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…
In many robotics problems, there is a significant gain in collaborative information sharing between multiple robots, for exploration, search and rescue, tracking multiple targets, or mapping large environments. One of the key implicit…
In this paper, we tackle the problem of localizing the source of a three-dimensional signal field with a team of mobile robots able to collect noisy measurements of its strength and share information with each other. The adopted strategy is…
In this paper, a combined formation acquisition and cooperative extremum seeking control scheme is proposed for a team of three robots moving on a plane. The extremum seeking task is to find the maximizer of an unknown two-dimensional…
The task of searching for and tracking of multiple targets is a challenging one. However, most works in this area do not consider evasive targets that move faster than the agents comprising the multi-robot system. This is due to the…
We present a decentralized algorithm to achieve segregation into an arbitrary number of groups with swarms of autonomous robots. The distinguishing feature of our approach is in the minimalistic assumptions on which it is based.…
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…
The number of multi-robot systems deployed in field applications has increased dramatically over the years. Despite the recent advancement of navigation algorithms, autonomous robots often encounter challenging situations where the control…
In order to overcome difficult dynamic optimization and environment extrema tracking problems, We propose a Self-Regulated Swarm (SRS) algorithm which hybridizes the advantageous characteristics of Swarm Intelligence as the emergence of a…
This paper proposes a model-based framework to automatically and efficiently design understandable and verifiable behaviors for swarms of robots. The framework is based on the automatic extraction of two distinct models: 1) a neural network…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
Collision avoidance is one of the most important topics in the robotics field. The goal is to move the robots from initial locations to target locations such that they follow shortest non-colliding paths in the shortest time and with the…
Swarm robots, which are inspired from the way insects behave collectively in order to achieve a common goal, have become a major part of research with applications involving search and rescue, area exploration, surveillance etc. In this…
This study presents a methodology for determining the optimal base placement of a Fanuc CRX10iA/L collaborative robot for a desired trajectory corresponding to an industrial task. The proposed method uses a particle swarm optimization…
In this study, we present a novel swarm-based approach for generating optimized stress-aligned trajectories for 3D printing applications. The method utilizes swarming dynamics to simulate the motion of virtual agents along the stress…
Achieving large-scale aerial swarms is challenging due to the inherent contradictions in balancing computational efficiency and scalability. This paper introduces Primitive-Swarm, an ultra-lightweight and scalable planner designed…
The gathering over meeting nodes problem requires the robots to gather at one of the pre-defined meeting nodes. This paper investigates the problem with respect to the objective function that minimizes the total number of moves made by all…
Different from most of the formation strategies where robots require unique labels to identify topological neighbors to satisfy the predefined shape constraints, we here study the problem of identity-less distributed shape formation in…