相关论文: Diffusion of Information in Robot Swarms

Autonomous drone swarms deployed for surveillance, environmental monitoring, and infrastructure inspection must maintain reliable coverage of critical assets despite robot failures. This requires multicoverage: each asset must be observed…

In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and…

We develop and analyze algorithms for dispersing a swarm of primitive robots in an unknown environment, R. The primary objective is to minimize the makespan, that is, the time to fill the entire region. An environment is composed of pixels…

This paper describes the methodology and outcomes of a series of educational events conducted in 2021 which leveraged robot swarms to educate high-school and university students about epidemiological models and how they can inform societal…

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…

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…

Framing an issue as a puzzle, problem, or mess is an illustrative approach to characterizing the issue's complexity within organizational theory and systems thinking. We use this approach to characterize the issue of designing collective…

The emerging behaviors of swarms have fascinated scientists and gathered significant interest in the field of robotics. Traditionally, swarms are viewed as egalitarian, with robots sharing identical roles and capabilities. However, recent…

In a robotic swarm, parameters such as position and proximity to the target can be described in terms of probability amplitudes. This idea led to recent studies on a quantum approach to the definition of the swarm, including a block-matrix…

Robot swarms offer the potential to bring several advantages to the real-world applications but deploying them presents challenges in ensuring feasibility across diverse environments. Assessing the feasibility of new tasks for swarms is…

The biologically-inspired swarm paradigm is being used to design self-organizing systems of locally interacting artificial agents. A major difficulty in designing swarms with desired characteristics is understanding the causal relation…

We present a method for the control of robot swarms using two subsets of robots: a larger group of simple, oblivious robots (which we call the workers) that is governed by simple local attraction forces, and a smaller group (the guides)…

In this paper we consider a model of spreading information in heterogeneous systems wherein we have two kinds of objects. Some of them are active and others are passive. Active objects can, if they possess information, share it with an…

Imagine that a swarm of robots is given, these robots must communicate with each other, and they can do so if certain conditions are met. We say that the swarm is connected if there is at least one way to send a message between each pair of…

Due to the distributed nature of cooperative simultaneous localization and mapping (CSLAM), detecting inter-robot loop closures necessitates sharing sensory data with other robots. A na\"{\i}ve approach to data sharing can easily lead to a…

In this work, we study the problem of dispersion of mobile robots on dynamic rings. The problem of dispersion of $n$ robots on an $n$ node graph, introduced by Augustine and Moses Jr. [1], requires robots to coordinate with each other and…

Wireless sensor networks (WSNs) are composed of spatially distributed sensors and are considered vulnerable to attacks by worms and their variants. Due to the distinct strategies of worms propagation, the dynamic behavior varies depending…

We consider the problem of organizing a scattered group of $n$ robots in two-dimensional space, with geometric maximum distance $D$ between robots. The communication graph of the swarm is connected, but there is no central authority for…

This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules 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…