Related papers: SwarmCoDe: A Scalable Co-Design Framework for Hete…
This paper introduces a cooperative and decentralized collision avoidance algorithm (CoDe) for small-scale UAV swarms consisting of up to three UAVs. CoDe improves energy efficiency of UAVs by achieving effective cooperation among UAVs.…
We present in this paper an exertion of our previous work by increasing the robustness and coverage of the evolution search via hybridisation with a state-of-the-art novelty search and accelerate the individual agent behaviour searches via…
Swarm robotics is the study of how a large number of relatively simple robots can be designed so that a desired collective behaviour emerges from the local interactions among robots and between the robots and their environment. While many…
Combining different types of agents in uncrewed vehicle (UV) swarms has emerged as an approach to enhance mission resilience and operational capabilities across a wide range of applications. This study offers a systematic framework for…
The continuous monitoring by drone swarms remains a challenging problem due to the lack of power supply and the inability of drones to land on uneven surfaces. Heterogeneous swarms, including ground and aerial vehicles, can support longer…
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 present a set of metrics intended to supplement designer intuitions when designing swarm-robotic systems, increase accuracy in extrapolating swarm behavior from algorithmic descriptions and small test experiments, and lead to faster and…
Autonomous robot swarms must be able to make fast and accurate collective decisions, but speed and accuracy are known to be conflicting goals. While collective decision-making is widely studied in swarm robotics research, only few works on…
Brain-body co-evolution enables animals to develop complex behaviors in their environments. Inspired by this biological synergy, embodied co-design (ECD) has emerged as a transformative paradigm for creating intelligent agents-from virtual…
Different from most of the formation strategies where robots require unique labels to identify topological neighbors to satisfy the predefined shape constraints, we here study the problem of identity-less distributed shape formation in…
The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robots is particularly challenging in field deployments.…
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…
Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
The simultaneous control of multiple coordinated robotic agents represents an elaborate problem. If solved, however, the interaction between the agents can lead to solutions to sophisticated problems. The concept of swarming, inspired by…
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…
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…
There has been growing interest in the use of multi-robot systems in various tasks and scenarios. The main attractiveness of such systems is their flexibility, robustness, and scalability. An often overlooked yet promising feature is system…
In order to overcome difficult dynamic optimization and environment extrema tracking problems, We propose a Self-Regulated Swarm (SRS) algorithm which hybridizes the advantageous characteristics of Swarm Intelligence as the emergence of a…