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We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
A swarm robotic system consists of a team of robots performing cooperative tasks without any centralized coordination. In principle, swarms enable flexible and scalable solutions; however, designing individual control algorithms that can…
This paper describes an information system designed to support the large volume of monitoring information generated by a distributed testbed. This monitoring information is produced by several subsystems and consists of status and…
Swarm robotic systems are systems in which multiple robots having simple functionality perform tasks through their cooperation, and are advantageous in that they can exhibit non-trivial macroscopic functions such as adaptability, fault…
In this paper, a hierarchical multi-UAV simulation platform,called XTDrone, is designed for UAV swarms, which is completely open-source 4 . There are six layers in XTDrone: communication, simulator,low-level control, high-level control,…
A conception of mobile edge generation (MEG) is proposed, where generative artificial intelligence (GAI) models are distributed at edge servers (ESs) and user equipment (UE), enabling joint execution of generation tasks. Various distributed…
Swarms of autonomous devices are increasing in ubiquity and size. There are two main trains of thought for controlling devices in such swarms; centralized and distributed control. Centralized platforms achieve higher output quality but…
Computational Grids are emerging as a popular paradigm for solving large-scale compute and data intensive problems in science, engineering, and commerce. However, application composition, resource management and scheduling in these…
This paper describes the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-robot research cycle, yet…
In this paper, we propose the problem of Encounter-Driven Information Diffusion (EDID). In EDID, robots are allowed to exchange information only upon meeting. Crucially, EDID assumes that the robots are not allowed to schedule their…
In the last few years, contributions of the general public in scientific projects has increased due to the advancement of communication and computing technologies. Internet played an important role in connecting scientists and volunteers…
Compact robotic platforms with powerful compute and actuation capabilities are key enablers for practical, real-world deployments of multi-agent research. This article introduces a tightly integrated hardware, control, and simulation…
Robot swarms offer inherent robustness and the capacity to execute complex, collaborative tasks surpassing the capabilities of single-agent systems. Co-designing these systems is critical, as marginal improvements in individual performance…
We provide a communication- and computation-efficient method for distributed submodular optimization in robot mesh networks. Submodularity is a property of diminishing returns that arises in active information gathering such as mapping,…
The use of Unmanned Aerial Vehicles (UAVs) is rapidly increasing in applications ranging from surveillance and first-aid missions to industrial automation involving cooperation with other machines or humans. To maximize area coverage and…
Grid is an infrastructure that involves the integrated and collaborative use of computers, networks, databases and scientific instruments owned and managed by multiple organizations. Grid applications often involve large amounts of data…
Robots navigating dynamic, cluttered, and semantically complex environments must integrate perception, symbolic reasoning, and spatial planning to generalize across diverse layouts and object categories. Existing methods often rely on…
This paper presents our work on designing a parallel platform for large-scale reservoir simulations. Detailed components, such as grid and linear solver, and data structures are introduced, which can serve as a guide to parallel reservoir…
This article presents a unique framework for deploying decentralized and infrastructure-independent swarms of homogeneous aerial vehicles in the real world without explicit communication. This is a requirement in swarm research, which…
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…