Related papers: Robot Swarming over the internet
This paper presents a novel approach that allows a swarm of heterogeneous robots to produce simultaneously segregative and flocking behaviors using only local sensing. These behaviors have been widely studied in swarm robotics and their…
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…
Robot swarms offer significant potential for inspecting diverse infrastructure, ranging from bridges to space stations. However, effective inspection requires accurate robot localization, which demands substantial computational resources…
In this paper, we develop a distributed intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captured by local Linear Temporal Logic formulas, and share the…
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…
This paper introduces a testbed to study distributed sensing problems of Unmanned Aerial Vehicles (UAVs) exhibiting swarm intelligence. Several Smart City applications, such as transport and disaster response, require efficient collection…
Many new methodologies for the control of large-scale multi-agent systems are based on macroscopic representations of the emerging system dynamics, in the form of continuum approximations of large ensembles. These techniques, that are…
In comparison with existing approaches, which struggle with scalability, communication dependency, and robustness against dynamic failures, cooperative aerial transportation via robot swarms holds transformative potential for logistics and…
Representation and control of the dynamics of stigmergic substances used by bio-inspired approaches is a challenge when applied to robotics. In order to overcome this challenge, this work proposes a model to coordinate swarms of robots…
Robotic swarms are decentralized multi-robot systems whose members use local information from proximal neighbors to execute simple reactive control laws that result in emergent collective behaviors. In contrast, members of a general…
Swarm intelligence is the collective behavior emerging in systems with locally interacting components. Because of their self-organization capabilities, swarm-based systems show essential properties for handling real-world problems such as…
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…
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…
Swarming behavior, where coherent motion emerges from the interactions of many mobile agents, is ubiquitous in physics and biology. Moreover, there are many efforts to replicate swarming dynamics in mobile robotic systems which take…
We present and analyze methods for patrolling an environment with a distributed swarm of robots. Our approach uses a physical data structure - a distributed triangulation of the workspace. A large number of stationary "mapping" robots cover…
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 proposes a formal model for a network of robotic agents that move and communicate. Building on concepts from distributed computation, robotics and control theory, we define notions of robotic network, control and communication…
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…
Relational networks within a team play a critical role in the performance of many real-world multi-robot systems. To successfully accomplish tasks that require cooperation and coordination, different agents (e.g., robots) necessitate…
With the rapid development of AI and robotics, transporting a large swarm of networked robots has foreseeable applications in the near future. Existing research in swarm robotics has mainly followed a bottom-up philosophy with predefined…