Related papers: Towards a Formal Specification for Self-organized …
When individual robots have limited sensing capabilities or insufficient fault tolerance, it becomes necessary for multiple robots to form teams during exploration, thereby increasing the collective observation range and reliability.…
In collective robotic systems, the automatic generation of controllers for complex tasks is still a challenging problem. Open-ended evolution of complex robot behaviors can be a possible solution whereby an intrinsic driver for pattern…
The human brain's plasticity allows for the integration of artificial body parts into the human body. Leveraging this, embodied systems realize intuitive interactions with the environment. We introduce a novel concept: embodied swarm…
Previous works on formally studying mobile robotic swarms consider necessary and sufficient system hypotheses enabling to solve theoretical benchmark problems (geometric pattern formation, gathering, scattering, etc.). We argue that formal…
To accomplish complex swarm robotic missions in the real world, one needs to plan and execute a combination of single robot behaviors, group primitives such as task allocation, path planning, and formation control, and mission-specific…
This paper studies the problem of controlling a multi-robot system to achieve a polygon formation in a self-organized manner. Different from the typical formation control strategies where robots are steered to satisfy the predefined control…
Swarms are highly robust systems that offer unique benefits compared to their alternatives. In this work, we propose a bio-inspired and artificial potential field-driven robot swarm control method, where the swarm formation dynamics are…
The biologically-inspired swarm paradigm is being used to design self-organizing systems of locally interacting artificial agents. A major difficulty in designing swarms with desired characteristics is understanding the causal relation…
One of the most challenging tasks in specification engineering for a multi-agent robotic system is to formally specify and architect the system, especially as a multi-agent robotic system is concurrent having concurrent processing, and…
We present a new version of our previously proposed algorithm enabling a swarm of robots to construct a desired shape from objects in the plane. We also describe a hardware realization for this system which makes use of simple and readily…
In this work, we explore emergent behaviors by swarms of anonymous, homogeneous, non-communicating, reactive robots that do not know their global position and have limited relative sensing. We introduce a novel method that enables such…
We present Buzz, a novel programming language for heterogeneous robot swarms. Buzz advocates a compositional approach, offering primitives to define swarm behaviors both from the perspective of the single robot and of the overall swarm.…
Autonomous robotic systems are complex, hybrid, and often safety-critical; this makes their formal specification and verification uniquely challenging. Though commonly used, testing and simulation alone are insufficient to ensure the…
Smart grid can be considered as the next step in the evolution of power systems. It comprises of different entities and objects ranging from smart appliances, smart meters, generators, smart storages, and more. One key problem in modeling…
Swarm protocols are a recently introduced formalism for specifying, implementing, and verifying peer-to-peer systems called swarms. A swarm consists of distributed agents called machines that communicate by asynchronous event propagation.…
This paper presents the initial results from our structured literature review on applications of Formal Methods (FM) to Robotic Autonomous Systems (RAS). We describe our structured survey methodology; including database selection and…
Morphological computing, the use of the physical design of a robot to ease the realization of a given task has been proven to be a relevant concept in the context of swarm robotics. Here we demonstrate both experimentally and numerically,…
A good organization model of multiple mobile robot should be able to improve the efficiency of the system, reduce the complication of robot interactions, and detract the difficulty of computation. From the sociology aspect of topology,…
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…
Task specification is at the core of programming autonomous robots. A low-effort modality for task specification is critical for engagement of non-expert end-users and ultimate adoption of personalized robot agents. A widely studied…