相关论文: SwarmUS: An open hardware and software on-board pl…
Unmanned aerial vehicle (UAV) swarms are increasingly used in critical applications such as aerial mapping, environmental monitoring, and autonomous delivery. However, the reliability of these systems is highly dependent on uninterrupted…
This paper describes the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-robot research cycle, yet…
Research in multi-robot and swarm systems has seen significant interest in cooperation of agents in complex and dynamic environments. To effectively adapt to unknown environments and maximize the utility of the group, robots need to…
Swarm robotic search is concerned with searching targets in unknown environments (e.g., for search and rescue or hazard localization), using a large number of collaborating simple mobile robots. In such applications, decentralized swarm…
Automatic off-line design is an attractive approach to implementing robot swarms. In this approach, a designer specifies a mission for the swarm, and an optimization process generates suitable control software for the individual robots…
With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example,…
The increasing complexity of marine operations has intensified the need for intelligent robotic systems to support ocean observation, exploration, and resource management. Underwater swarm robotics offers a promising framework that extends…
We introduce shape-changing swarm robots. A swarm of self-transformable robots can both individually and collectively change their configuration to display information, actuate objects, act as tangible controllers, visualize data, and…
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 utilises decentralised self-organising systems to form complex collective behaviours built from the bottom-up using individuals that have limited capabilities. Previous work has shown that simple occlusion-based strategies…
A generic architecture for a class of distributed robotic systems is presented. The architecture supports openness and heterogeneity, i.e. heterogeneous components may be joined and removed from the systems without affecting its basic…
In this paper a modular and scalable architecture for heterogeneous swarm-based Counter Unmanned Aerial Systems (C-UASs) built on PX4-Autopilot and Robot Operating System 2 (ROS 2) framework is presented. The proposed architecture…
Controlling and monitoring complex autonomous and semi autonomous robotic systems is a challenging task. The Robot Operating System (ROS) was developed to act as a robotic middleware system running on Ubuntu Linux which allows, amongst…
Inspired by biological swarms, robotic swarms are envisioned to solve real-world problems that are difficult for individual agents. Biological swarms can achieve collective intelligence based on local interactions and simple rules; however,…
Swarm in Blocks, originally developed for CopterHack 2022, is a high-level interface that simplifies drone swarm programming using a block-based language. Building on the Clover platform, this tool enables users to create functionalities…
In robotics, data acquisition often plays a key part in unknown environment exploration. For example, storing information about the topography of the explored terrain or the natural dangers in the environment can inform the decision-making…
This paper introduces SMARTmBOT, an open-source mobile robot platform based on Robot Operating System 2 (ROS2). The characteristics of the SMARTmBOT, including low-cost, modular-typed, customizable and expandable design, make it an easily…
We present DOTS, a new open access testbed for industrial swarm robotics experimentation. It consists of 20 fast agile robots with high sensing and computational performance, and real-world payload capability. They are housed in an arena…
Collective animal behaviors are paradigmatic examples of fully decentralized operations involving complex collective computations such as collective turns in flocks of birds or collective harvesting by ants. These systems offer a unique…
In this work we present an experimental setup to show the suitability of ROS 2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of…