相关论文: ROS and Buzz: consensus-based behaviors for hetero…
The development of collective-aware multi-robot systems is crucial for enhancing the efficiency and robustness of robotic applications in multiple fields. These systems enable collaboration, coordination, and resource sharing among robots,…
This work develops a distributed optimization algorithm for multi-robot 3-D semantic mapping using streaming range and visual observations and single-hop communication. Our approach relies on gradient-based optimization of the observation…
This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…
Representation and control of the dynamics of stigmergic substances used by bio-inspired approaches is a challenge when applied to robotics. In order to overcome this challenge, this work proposes a model to coordinate swarms of robots…
DiRAC is a scalable, distributed framework designed to enable efficient task assignment and path planning in very large robotic swarms. It introduces a novel zone-partitioned architecture with dynamically elected leaders and a…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
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…
Collective movement inspired by animal groups promises inherited benefits for robot swarms, such as enhanced sensing and efficiency. However, while animals move in groups using only their local senses, robots often obey central control or…
Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the…
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…
Swarm robotics is an emerging field of research which is increasingly attracting attention thanks to the advances in robotics and its potential applications. However, despite the enthusiasm surrounding this area of research, software…
Collaborative robots are becoming part of intelligent automation systems in modern industry. Development and control of such systems differs from traditional automation methods and consequently leads to new challenges. Thankfully, Robot…
Multi-robot systems are becoming increasingly relevant within diverse application domains, such as healthcare, exploration, and rescue missions. However, building such systems is still a significant challenge, since it adds the complexities…
Collective perception is a foundational problem in swarm robotics, in which the swarm must reach consensus on a coherent representation of the environment. An important variant of collective perception casts it as a best-of-$n$…
This work interprets and generalizes consensus-type algorithms as switching dynamics leading to symmetrization of some vector variables with respect to the actions of a finite group. We show how the symmetrization framework we develop…
Efficient resource allocation and scheduling algorithms are essential for various distributed applications, ranging from wireless networks and cloud computing platforms to autonomous multi-agent systems and swarm robotic networks. However,…
We present a distributed algorithm for a swarm of active particles to camouflage in an environment. Each particle is equipped with sensing, computation and communication, allowing the system to take color and gradient information from the…
Technological development continues to advance, with consequences for the use of robots in health care. For this reason, this workshop contribution aims at consideration of how socially assistive robots can be integrated into care and what…
We study distributed output feedback control for a heterogeneous multi-agent system (MAS), consisting of N different continuous-time linear dynamical systems. For achieving output consensus, a virtual reference model is assumed to generate…
Computation load-sharing across a network of heterogeneous robots is a promising approach to increase robots capabilities and efficiency as a team in extreme environments. However, in such environments, communication links may be…