Related papers: Go Big or Go Home: Simulating Mobbing Behavior wit…
Popular hypotheses about the origins of collective adaptation are related to two basic behaviours: protection from predators and a combined search for food resources. Among the anti-predator explanations, the predator confusion hypothesis…
Cooperation and competition among stand-alone swarm agents increase collective fitness of the whole system. A principally new kind of collective systems is demonstrated by some bacteria and fungi, when they build symbiotic organisms.…
In collective motion, perceptually-limited individuals move in an ordered manner, without centralized control. The perception of each individual is highly localized, as is its ability to interact with others. While natural collective motion…
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…
Moving large objects, such as furniture or appliances, is a critical capability for robots operating in human environments. This task presents unique challenges, including whole-body coordination to avoid collisions and managing the…
Human-robot interaction frequently involves physical proximity or contact. In human-human settings, people flexibly accept, reject, or tolerate such approaches depending on the relationship and context. We explore the design of a robot's…
Swarm robotic systems are systems in which multiple robots having simple functionality perform tasks through their cooperation, and are advantageous in that they can exhibit non-trivial macroscopic functions such as adaptability, fault…
Based on experimental observations in \textit{Daphnia}, we introduce an agent-based model for the motion of single and swarms of animals. Each agent is described by a stochastic equation that also considers the conditions for active…
In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm…
Robot swarms can effectively serve a variety of sensing and inspection applications. Certain inspection tasks require a binary classification decision. This work presents an experimental setup for a surface inspection task based on…
In animal societies as well as in human crowds, many observed collective behaviours result from self-organized processes based on local interactions among individuals. However, models of crowd dynamics are still lacking a systematic…
Social insects in nature such as ants, termites and bees construct their colonies collaboratively in a very efficient process. In these swarms, each insect contributes to the construction task individually showing redundant and parallel…
Applications of large-scale mobile multi-robot systems can be beneficial over monolithic robots because of higher potential for robustness and scalability. Developing controllers for multi-robot systems is challenging because the multitude…
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…
Rapid performance recovery from unforeseen environmental perturbations remains a grand challenge in swarm robotics. To solve this challenge, we investigate a behaviour adaptation approach, where one searches an archive of controllers for…
In densely-packed robot swarms operating in confined regions, spatial interference -- which manifests itself as a competition for physical space -- forces robots to spend more time navigating around each other rather than performing the…
Nature is an inhabitant for enormous number of species. All the species do perform complex activities with simple and elegant rules for their survival. The property of emergence of collective behavior is remarkably supporting their…
One of the most important promises of decentralized systems is scalability, which is often assumed to be present in robot swarm systems without being contested. Simple limitations, such as movement congestion and communication conflicts,…
In this paper, we use simulated swarms of robots to further explore the aggregation dynamics generated by these simple individual mechanisms. Our objective is to study the introduction of "informed robots", and to study how many of these…
Humans demonstrate a variety of interesting behavioral characteristics when performing tasks, such as selecting between seemingly equivalent optimal actions, performing recovery actions when deviating from the optimal trajectory, or…