相关论文: Uniform Circle Formation By Oblivious Swarm Robots

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…

The human brain's plasticity allows for the integration of artificial body parts into the human body. Leveraging this, embodied systems realize intuitive interactions with the environment. We introduce a novel concept: embodied swarm…

Consider a swarm of particles controlled by global inputs. This paper presents algorithms for shaping such swarms in 2D using boundary walls. The range of configurations created by conforming a swarm to a boundary wall is limited. We…

We often assume that robots which collaborate with humans should behave in ways that are transparent (e.g., legible, explainable). These transparent robots intentionally choose actions that convey their internal state to nearby humans: for…

This paper presents a novel architecture to detect social groups in real-time from a continuous image stream of an ego-vision camera. F-formation defines social orientations in space where two or more person tends to communicate in a social…

Given a set R of robots, each one located at different vertices of an infinite regular tessellation graph, we aim to explore the Arbitrary Pattern Formation (APF) problem. Given a multiset F of grid vertices such that |R|=|F|, APF asks for…

We consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network intermittently connected. We abstract the task locations into…

This work deals with the Maximum Independent Set ($\mathcal{MIS}$) formation problem in a finite rectangular grid by autonomous robots. Suppose we are given a set of identical robots, where each robot is placed on a node of a finite…

Rigid-formation navigation of multiple robots is essential for applications such as cooperative transportation. This process involves a team of collaborative robots maintaining a predefined geometric configuration, such as a square, while…

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…

Cooperative transport is a striking phenomenon where multiple agents join forces to transit a payload too heavy for the individual. While social animals such as ants are routinely observed to coordinate transport at scale, reproducing the…

We present experimental results on the single file motion of a group of robots interacting with each other through position sensors. We successfully replicate the fundamental diagram typical of these systems, with a transition from free…

Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…

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.…

Automatic design is a promising approach to realizing robot swarms. Given a mission to be performed by the swarm, an automatic method produces the required control software for the individual robots. Automatic design has concentrated on…

The deployment of simple emergent behaviors in swarm robotics has been well-rehearsed in the literature. A recent study has shown how self-aggregation is possible in a multitask approach -- where multiple self-aggregation task instances…

When a large number of robots try to reach a common area, congestions happen, causing severe delays. To minimise congestion in a robotic swarm system, traffic control algorithms must be employed in a decentralised manner. Based on…

In the gathering problem, n autonomous robots have to meet on a single point. We consider the gathering of a closed chain of point-shaped, anonymous robots on a grid. The robots only have local knowledge about a constant number of…

Many applications in robotics require primitive spherical geometry, especially in cases where efficient distance queries are necessary. Manual creation of spherical models is time-consuming and prone to errors. This paper presents Foam, a…

Morphological computing, the use of the physical design of a robot to ease the realization of a given task has been proven to be a relevant concept in the context of swarm robotics. Here we demonstrate both experimentally and numerically,…