Related papers: Compositional Design, Implementation, and Verifica…
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…
Peer-to-peer systems are the most resilient form of distributed computing, but the design of robust protocols for their coordination is difficult. This makes it hard to specify and reason about global behaviour of such systems. This paper…
Swarm behaviour engineering is an area of research that seeks to investigate methods and techniques for coordinating computation and action within groups of simple agents to achieve complex global goals like pattern formation, collective…
Previous works on formally studying mobile robotic swarms consider necessary and sufficient system hypotheses enabling to solve theoretical benchmark problems (geometric pattern formation, gathering, scattering, etc.). We argue that formal…
In programming, protocols are everywhere. Protocols describe the pattern of interaction (or communication) between software systems, for example, between a user-space program and the kernel or between a local application and an online…
Swarm robotics has experienced a rapid expansion in recent years, primarily fueled by specialized multi-robot systems developed to achieve dedicated collective actions. These specialized platforms are in general designed with swarming…
Robot swarms are composed of many simple robots that communicate and collaborate to fulfill complex tasks. Robot controllers usually need to be specified by experts on a case-by-case basis via programming code. This process is…
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…
Robotic swarms are decentralized multi-robot systems whose members use local information from proximal neighbors to execute simple reactive control laws that result in emergent collective behaviors. In contrast, members of a general…
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.…
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…
Swarms have distributed control and so are assumed to inherently have superior robustness, scalability and adaptability compared to centralised multi-agent systems. However, these features have generally only been defined qualitatively and…
Network protocols are programs with inputs and outputs that follow predefined communication patterns to synchronize and exchange information. There are many protocols and each serves a different purpose, e.g., routing, transport, secure…
We show that coherent, long-form musical composition can emerge from a decentralized swarm of identical, frozen foundation models that coordinate via stigmergic, peer-to-peer signals, without any weight updates. We compare a centralized…
There are many well-studied swarming algorithms which are often suited to very specific purposes. As mobile sensor networks become increasingly complex, and are comprised of more and more agents, it makes sense to consider swarming…
Swarm intelligence is the collective behavior emerging in systems with locally interacting components. Because of their self-organization capabilities, swarm-based systems show essential properties for handling real-world problems such as…
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.…
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…
A heterogeneous swarm system is a distributed system where participants come and go, communication topology may change at any time, data replication is asynchronous and partial, and local agents behave differently between nodes. These…
Swarm stability is concerned for descriptor compartmental networks with linear time-invariant protocol. Compartmental network is a specific type of dynamical multi-agent system. Necessary and sufficient conditions for both consensus and…