Related papers: A Minimalist Controller for Autonomously Self-Aggr…

In this work we consider the problem of gathering autonomous robots in the plane. In particular, we consider non-transparent unit-disc robots (i.e., fat) in an asynchronous setting. Vision is the only mean of coordination. Using a…

Modern cities are growing ecosystems that face new challenges due to the increasing population demands. One of the many problems they face nowadays is waste management, which has become a pressing issue requiring new solutions. Swarm…

The problem of gathering multiple mobile robots to a single location, is one of the fundamental problems in distributed coordination between autonomous robots. The problem has been studied and solved even for robots that are anonymous,…

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…

For the robots to achieve a desired behavior, we can program them directly, train them, or give them an innate driver that makes the robots themselves desire the targeted behavior. With the minimal surprise approach, we implant in our…

In their seminal work, Gauci et al. (2014) studied the fundamental task of aggregation, wherein multiple robots need to gather without an a priori agreed-upon meeting location, using minimal hardware. That paper considered…

This paper introduces a distributed leaderless swarm formation control framework to address the problem of collectively driving a swarm of robots to track a time-varying formation. The swarm's formation is captured by the trajectory of an…

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.…

Animal swarms displaying a variety of typical flocking patterns would not exist without underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with…

An important problem in microrobotics is how to control a large group of microrobots with a global control signal. This paper focuses on controlling a large-scale swarm of MicroStressBots with on-board physical finite-state machines. We…

Understanding collective behavior and how it evolves is important to ensure that robot swarms can be trusted in a shared environment. One way to understand the behavior of the swarm is through collective behavior reconstruction using prior…

Swarm Robotics is an emerging field of adapting the phenomenon of natural swarms to robotics. It is a study of robots that are aimed to mimic natural swarms, like ants and birds, to form a system that is scalable, flexible, and robust.…

Collective behavior models, such as aggregation and flocking, usually assume self-propelled robots that can directly execute their desired speed and direction of motion without fundamental constraints. However, autonomous sailing robots…

We study the problem of determining the emergent behaviors that are possible given a functionally heterogeneous swarm of robots with limited capabilities. Prior work has considered behavior search for homogeneous swarms and proposed the use…

Collective movement inspired by animal groups promises inherited benefits for robot swarms, such as enhanced sensing and efficiency. However, while animals move in groups using only their local senses, robots often obey central control or…

Social organisms which construct nests consisting of tunnels and chambers necessarily navigate confined and crowded conditions. Unlike low-density collectives like bird flocks and insect swarms, in which hydrodynamic and statistical…

We study the problem of reducing the amount of communication in decentralized target tracking. We focus on the scenario where a team of robots are allowed to move on the boundary of the environment. Their goal is to seek a formation so as…

We present the first decentralized multi-copter flock that performs stable autonomous outdoor flight with up to 10 flying agents. By decentralized and autonomous we mean that all members navigate themselves based on the dynamic information…

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…

This study investigates the use of global control strategies to enhance the directed migration of swarms of interacting self-propelled particles confined in a channel. Uncontrolled dynamics naturally leads to wall accumulation, clogging,…