Related papers: Redirecting counter-moving swarms through collisio…
Swarm systems consist of large numbers of robots that collaborate autonomously. With an appropriate level of human control, swarm systems could be applied in a variety of contexts ranging from search-and-rescue situations to Cyber defence.…
Swarming patterns that emerge from the interaction of many mobile agents are a subject of great interest in fields ranging from biology to physics and robotics. In some application areas, multiple swarms effectively interact and collide,…
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…
Swarms are self-organized dynamical coupled agents which evolve from simple rules of communication. They are ubiquitous in nature, and be- coming more prominent in defense applications. Here we report on a preliminary study of swarm…
Swarms of large numbers of agents appear in many biological and engineering fields. Dynamic bi-stability of co-existing spatio-temporal patterns has been observed in many models of large population swarms. However, many reduced models for…
The emerging collective motions of swarms of interacting agents are a subject of great interest in application areas ranging from biology to physics and robotics. In this paper, we conduct a careful analysis of the collective dynamics of a…
We consider the problem of characterizing the dynamics of interacting swarms after they collide and form a stationary center of mass. Modeling efforts have shown that the collision of near head-on interacting swarms can produce a variety of…
Swarms of coupled mobile agents subject to inter-agent wireless communication delays are known to exhibit multiple dynamic patterns in space that depend on the strength of the interactions and the magnitude of the communication delays. We…
Coordination of movement and configuration in robotic swarms is a challenging endeavor. Deciding when and where each individual robot must move is a computationally complex problem. The challenge is further exacerbated by difficulties…
We consider a general swarm model of self-propelling agents interacting through a pairwise potential in the presence of noise and communication time delay. Previous work [Phys. Rev. E 77, 035203(R) (2008)] has shown that a communication…
Swarm robotics is a creative method of organizing multi-robot structures, consisting of many basic robots influenced by communal insects. The greatest astonishing attribute of swarm robots is their capacity to function together to…
We present experimental results on the single file motion of a group of robots interacting with each other through position sensors. We successfully replicate the fundamental diagram typical of these systems, with a transition from free…
In this paper we consider a continuous-time anisotropic swarm model in $n$-dimensional space with an attraction/repulsion function and study its aggregation properties. It is shown that the swarm members will aggregate and eventually form a…
Here we consider the communications tactics appropriate for a group of agents that need to "swarm" together in a highly adversarial environment. Specfically, whilst they need to cooperate by exchanging information with each other about…
It is known from both theory and experiments that introducing time delays into the communication network of mobile-agent swarms produces coherent rotational patterns. Often such spatio-temporal rotations can be bistable with other swarming…
Swarms of autonomous agents are useful in many applications due to their ability to accomplish tasks in a decentralized manner, making them more robust to failures. Due to the difficulty in running experiments with large numbers of hardware…
The self-organizing behavior of swarms of inter- acting particles or agents is a topic of intense research in fields extending from biology to physics and robotics. In this paper, we carry out a systematic study of how the stable…
When designing swarm-robotic systems, systematic comparison of algorithms from different domains is necessary to determine which is capable of scaling up to handle the target problem size and target operating conditions. We propose a set of…
In robot swarms operating under highly restrictive sensing and communication constraints, individuals may need to use direct physical proximity to facilitate information exchange. However, in certain task-related scenarios, this requirement…
Active matter physics and swarm robotics have provided powerful tools for the study and control of ensembles driven by internal sources. At the macroscale, controlling swarms typically utilizes significant memory, processing power, and…