Related papers: A Minimalist Controller for Autonomously Self-Aggr…
Whereas naturally occurring swarms thrive when crowded, physical interactions in robotic swarms are either avoided or carefully controlled, thus limiting their operational density. Here we present a mechanical design rule that allows robots…
To guide the movement of a robotic swarm in a corridor-like environment, a curve virtual tube with no obstacle inside is designed in our previous work. This paper generalizes the controller design to the condition that all robots have…
Interest in multimodal function optimization is expanding rapidly since real world optimization problems often demand locating multiple optima within a search space. This article presents a new multimodal optimization algorithm named as the…
Swarms of self-propelled particles exhibit complex behavior that can arise from simple models, with large changes in swarm behavior resulting from small changes in model parameters. We investigate the steady-state swarms formed by…
Non-equilibrium collective behavior of self-propelled colloidal rods in a confining channel is studied using Brownian dynamics simulations and dynamical density functional theory. We observe an aggregation process in which rods…
We consider the gathering problem for asynchronous and oblivious robots that cannot communicate explicitly with each other, but are endowed with visibility sensors that allow them to see the positions of the other robots. Most of the…
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…
In this paper, we present algorithms for synthesizing controllers to distribute a group (possibly swarms) of homogeneous robots (agents) over heterogeneous tasks which are operated in parallel. We present algorithms as well as analysis for…
Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…
The Gathering problem for a swarm of robots asks for a distributed algorithm that brings such entities to a common place, not known in advance. We consider the well-known OBLOT model with robots constrained to move along the edges of a…
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…
Collective motion inspired by animal groups offers powerful design principles for autonomous aerial swarms. We present a bio-inspired 3D flocking algorithm in which each drone interacts only with a minimal set of influential neighbors,…
This paper proposes a novel methodology for addressing the simulation-reality gap for multi-robot swarm systems. Rather than immediately try to shrink or `bridge the gap' anytime a real-world experiment failed that worked in simulation, we…
Coordination behavior in robot swarms is inherently multi-modal in nature. That is, there are numerous ways in which a swarm of robots can avoid inter-agent collisions and reach their respective goals. However, the problem of generating…
This study proposes an event-based reconfiguration control to navigate a robot swarm through challenging environments with narrow passages such as valleys, tunnels, and corridors. The robot swarm is modeled as an undirected graph, where…
This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a…
This paper studies collaboration through the cloud in the context of cooperative adaptive control for robot manipulators. We first consider the case of multiple robots manipulating a common object through synchronous centralized update laws…
Miniaturization and cost, two of the main attractive factors of swarm robotics, have motivated its use as a solution in object collecting tasks, search & rescue missions, and other applications. However, in the current literature only a few…
Collaborating teams of robots show promise due in their ability to complete missions more efficiently and with improved robustness, attributes that are particularly useful for systems operating in marine environments. A key issue is how to…
For a team of heterogeneous robots executing multiple tasks, we propose a novel algorithm to optimally allocate tasks to robots while accounting for their different capabilities. Motivated by the need that robot teams have in many…