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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…

Robot swarms offer the potential to serve a variety of distributed sensing applications. An interesting real-world application that stands to benefit significantly from deployment of swarms is structural monitoring, where traditional sensor…

Designing controllers for robot swarms is challenging, because human developers have typically no good understanding of the link between the details of a controller that governs individual robots and the swarm behavior that is an indirect…

With more robots being deployed in the world, users will likely interact with multiple robots sequentially when receiving services. In this paper, we describe an exploratory field study in which unsuspecting participants experienced a…

This paper presents an approach to detect and track groups of people in video-surveillance applications, and to automatically recognize their behavior. This method keeps track of individuals moving together by maintaining a spacial and…

Cooperative transport is a striking phenomenon where multiple agents join forces to transit a payload too heavy for the individual. While social animals such as ants are routinely observed to coordinate transport at scale, reproducing the…

Biologically inspired strategies have long been adapted to swarm robotic systems, including biased random walks, reaction to chemotactic cues and long-range coordination. In this paper we apply analysis tools developed for modeling…

This paper proposes the problem of modeling video sequences of dynamic swarms (DS). We define DS as a large layout of stochastically repetitive spatial configurations of dynamic objects (swarm elements) whose motions exhibit local…

This paper introduces a framework for human swarm interaction studies that measures situation awareness in dynamic environments. A tablet-based interface was developed for a user study by implementing the concepts introduced in 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.…

Swarms of robots will revolutionize many industrial applications, from targeted material delivery to precision farming. Controlling the motion and behavior of these swarms presents unique challenges for human operators, who cannot yet…

Group interactions are a natural part of our daily life, and as robots become more integrated into society, they must be able to socially interact with multiple people at the same time. However, group human-robot interaction (HRI) poses…

This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…

Swarms are highly robust systems that offer unique benefits compared to their alternatives. In this work, we propose a bio-inspired and artificial potential field-driven robot swarm control method, where the swarm formation dynamics are…

We present a method to register individual members of a robotic swarm in an augmented reality display while showing relevant information about swarm dynamics to the user that would be otherwise hidden. Individual swarm members and clusters…

Theoretical models of populations and swarms typically start with the assumption that the motion of agents is governed by the local stimuli. However, an intelligent agent, with some understanding of the laws that govern its habitat, can…

Robotic navigation through crowds or herds requires the ability to both predict the future motion of nearby individuals and understand how these predictions might change in response to a robot's future action. State of the art trajectory…

In imitation learning, robots are supposed to learn from demonstrations of the desired behavior. Most of the work in imitation learning for swarm robotics provides the demonstrations as rollouts of an existing policy. In this work, we…

Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…

For decades, robotics researchers have pursued various tasks for multi-robot systems, from cooperative manipulation to search and rescue. These tasks are multi-robot extensions of classical robotic tasks and often optimized on dimensions…