Related papers: Robot Swarming over the internet
We study the Symmetric Rendezvous Search Problem for a multi-robot system. There are $n>2$ robots arbitrarily located on a line. Their goal is to meet somewhere on the line as quickly as possible. The robots do not know the initial location…
We consider the problem of finding distributed controllers for large networks of mobile robots with interacting dynamics and sparsely available communications. Our approach is to learn local controllers that require only local information…
This paper introduces a novel bio-mimetic approach for distributed control of robotic swarms, inspired by the collective behaviors of swarms in nature such as schools of fish and flocks of birds. The agents are assumed to have limited…
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…
In this paper, we propose a distributed algorithm to uniformly scatter the robots along a grid, with robots on alternate nodes of this grid distribution. These homogeneous, autonomous mobile robots place themselves equidistant apart on the…
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,…
Controllability of complex networks has been the focal point of many recent studies in the field of complexity. These landmark advances shed a new light on the dynamics of natural and technological complex systems. Here, we analyze the…
We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…
In swarm robotics, just as for an animal swarm in Nature, one of the aims is to reach and maintain a desired configuration. One of the possibilities for the team, to reach this aim, is to see what its neighbours are doing. This approach…
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…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
Social insects in nature such as ants, termites and bees construct their colonies collaboratively in a very efficient process. In these swarms, each insect contributes to the construction task individually showing redundant and parallel…
In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and…
We study a fundamental cooperative message-delivery problem on the plane. Assume $n$ robots which can move in any direction, are placed arbitrarily on the plane. Robots each have their own maximum speed and can communicate with each other…
In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
This paper deals with random sensors initially randomly deployed on the line according to general random process and on the plane according to two independent general random processes. The mobile robot with carrying capacity $k$ placed at…
This paper presents a novel methodology that allows a swarm of robots to perform a cooperative transportation task. Our approach consists of modeling the swarm as a {\em Gibbs Random Field} (GRF), taking advantage of this framework's…
Networked control systems are closed-loop feedback control systems containing system components that may be distributed geographically in different locations and interconnected via a communication network such as the Internet. The quality…
The planning and control of a robot swarm in a complex environment have attracted increasing attention. To this end, the idea of virtual tubes has been taken up in our previous work. Specifically, a virtual tube with varying widths has been…