Related papers: Distributed Spatial Awareness for Robot Swarms
Collective intelligence and autonomy of robot swarms can be improved by enabling the individual robots to become aware they are the constituent units of a larger whole and what is their role. In this study, we present an algorithm to enable…
We present a distributed algorithm for a swarm of active particles to camouflage in an environment. Each particle is equipped with sensing, computation and communication, allowing the system to take color and gradient information from the…
Swarm perception refers to the ability of a robot swarm to utilize the perception capabilities of each individual robot, forming a collective understanding of the environment. Their distributed nature enables robot swarms to continuously…
Robot swarms require cohesive collective behaviour to address diverse challenges, including shape formation and decision-making. Existing approaches often treat consensus in discrete and continuous decision spaces as distinct problems. We…
This work is devoted to communication approaches, which spread information in robot swarms. These mechanisms are useful for large-scale systems and also for such cases when a limited communication equipment does not allow routing of…
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.…
We present an approach to the distributed storage of data across a swarm of mobile robots that forms a shared global memory. We assume that external storage infrastructure is absent, and that each robot is capable of devoting a quota of…
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…
This paper presents a distributed painting algorithm for painting a priori known rectangular region by swarm of autonomous mobile robots. We assume that the region is obstacle free and of rectangular in shape. The basic approach is to…
Autonomous drone swarms deployed for surveillance, environmental monitoring, and infrastructure inspection must maintain reliable coverage of critical assets despite robot failures. This requires multicoverage: each asset must be observed…
Inspired by biological swarms, robotic swarms are envisioned to solve real-world problems that are difficult for individual agents. Biological swarms can achieve collective intelligence based on local interactions and simple rules; however,…
Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…
Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…
This paper presents an algorithm for a team of mobile robots to simultaneously learn a spatial field over a domain and spatially distribute themselves to optimally cover it. Drawing from previous approaches that estimate the spatial field…
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…
Localized communication in swarms has been shown to increase swarm effectiveness in some situations by allowing for additional opportunities for cooperation. However, communication and utilization of potentially outdated information is also…
Robot swarms, systems of many robots that operate in a distributed fashion, have many applications in areas such as search-and-rescue, natural disaster response, and self-assembly. Several of these applications can be abstracted to the…
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…
The distributed coordination of robot teams performing complex tasks is challenging to formulate. The different aspects of a complete task such as local planning for obstacle avoidance, global goal coordination and collaborative mapping are…
In this paper, we propose an approach to the distributed storage and fusion of data for collective perception in resource-limited robot swarms. We demonstrate our approach in a distributed semantic classification scenario. We consider a…