Related papers: Collective perception for tracking people with a r…

A robotic swarm that is required to operate for long periods in a potentially unknown environment can use both evolution and individual learning methods in order to adapt. However, the role played by the environment in influencing the…

This paper explores the expressive capabilities of a swarm of miniature mobile robots within the context of inter-robot interactions and their mapping to the so-called fundamental emotions. In particular, we investigate how motion and shape…

This paper explores the paradigm of Collaborative Perception (CP), where multiple robots and sensors in the environment share and integrate sensor data to construct a comprehensive representation of the surroundings. By aggregating data…

One of the most important promises of decentralized systems is scalability, which is often assumed to be present in robot swarm systems without being contested. Simple limitations, such as movement congestion and communication conflicts,…

This paper investigates the role of communication in improving coordination within robot swarms, focusing on a paradigm where learning and execution occur simultaneously in a decentralized manner. We highlight the role communication can…

Achieving effective and seamless human-robot collaboration requires two key outcomes: enhanced team performance and fostering a positive human perception of both the robot and the collaboration. This paper investigates the capability of the…

Automatic design is a promising approach to realizing robot swarms. Given a mission to be performed by the swarm, an automatic method produces the required control software for the individual robots. Automatic design has concentrated on…

Collaborative path planning for robot swarms in complex, unknown environments without external positioning is a challenging problem. This requires robots to find safe directions based on real-time environmental observations, and to…

We present a set of metrics intended to supplement designer intuitions when designing swarm-robotic systems, increase accuracy in extrapolating swarm behavior from algorithmic descriptions and small test experiments, and lead to faster and…

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…

Recently, research in human-robot interaction began to consider a robot's influence at the group level. Despite the recent growth in research investigating the effects of robots within groups of people, our overall understanding of what…

In this paper, we study the problem of controlling a two-dimensional robotic swarm with the purpose of achieving high level and complex spatio-temporal patterns. We use a rich spatio-temporal logic that is capable of describing a wide range…

How does the size of a swarm affect its collective action? Despite being arguably a key parameter, no systematic and satisfactory guiding principles exist to select the number of units required for a given task and environment. Even when…

In this work, we present a novel distributed method for constructing an occupancy grid map of an unknown environment using a swarm of robots with global localization capabilities and limited inter-robot communication. The robots explore the…

Collective decision-making is a key function of autonomous robot swarms, enabling them to reach a consensus on actions based on environmental features. Existing strategies require the participation of all robots in the decision-making…

Collective behavior, and swarm formation in particular, has been studied from several perspectives within a large variety of fields, ranging from biology to physics. In this work, we apply Projective Simulation to model each individual as…

The implementation of collective motion, traditionally, disregard the limited sensing capabilities of an individual, to instead assuming an omniscient perception of the environment. This study implements a visual flocking model in a…

We study the limits of linear modeling of swarm behavior by characterizing the inflection point beyond which linear models of swarm collective behavior break down. The problem we consider is a central place object gathering task. We design…

The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robots is particularly challenging in field deployments.…

This paper introduces a distributed leaderless swarm formation control framework to address the problem of collectively driving a swarm of robots to track a time-varying formation. The swarm's formation is captured by the trajectory of an…