相关论文: Source-Seeking Problem with Robot Swarms

We present a set of metrics intended to supplement designer intuitions when designing swarm-robotic systems, increase accuracy in extrapolating swarm behavior from algorithmic descriptions and small test experiments, and lead to faster and…

Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…

Robot swarms often exhibit emergent behaviors that are fascinating to observe; however, it is often difficult to predict what swarm behaviors can emerge under a given set of agent capabilities. We seek to efficiently leverage human input to…

We introduce a novel distributed source seeking framework, DIAS, designed for multi-robot systems in scenarios where the number of sources is unknown and potentially exceeds the number of robots. Traditional robotic source seeking methods…

Robot swarms can be tasked with a variety of automated sensing and inspection applications in aerial, aquatic, and surface environments. In this paper, we study a simplified two-outcome surface inspection task. We task a group of robots to…

Swarm robotic systems are mainly inspired by swarms of socials insects and the collective emergent behavior that arises from their cooperation at the lower lever. Despite the limited sensory ability, computational power, and communication…

We consider a swarm of $n$ robots in \mathbb{R}^d. The robots are oblivious, disoriented (no common coordinate system/compass), and have limited visibility (observe other robots up to a constant distance). The basic formation task gathering…

Mobile robots require basic information to navigate through an environment: they need to know where they are (localization) and they need to know where they are going. For the latter, robots need a map of the environment. Using sensors of a…

Trajectory optimization of a robot manipulator consists of both optimization of the robot movement as well as optimization of the robot end-effector path. This paper aims to find optimum movement parameters including movement type, speed,…

This paper investigates efficient techniques to collect and concentrate an under-actuated particle swarm despite obstacles. Concentrating a swarm of particles is of critical importance in health-care for targeted drug delivery, where…

It is promising but challenging to design flocking control for a robot swarm to autonomously follow changing patterns or shapes in a optimal distributed manner. The optimal flocking control with dynamic pattern formation is, therefore,…

Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…

This paper presents an algorithmic framework for the distributed on-line source seeking, termed as 'DoSS', with a multi-robot system in an unknown dynamical environment. Our algorithm, building on a novel concept called dummy confidence…

Collaborative path planning for robot swarms in complex, unknown environments without external positioning is a challenging problem. This requires robots to find safe directions based on real-time environmental observations, and to…

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,…

Robotic swarms and mobile sensor networks are used for environmental monitoring in various domains and areas of operation. Especially in otherwise inaccessible environments decentralized robotic swarms can be advantageous due to their high…

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…

In this chapter, we propose a novel approach for solving the coordination of a fleet of mobile robots, which consists of finding a set of collision-free trajectories for individual robots in the fleet. This problem is studied for several…

Swarm robots have sparked remarkable developments across a range of fields. While it is necessary for various applications in swarm robots, a fast and robust coordinate initialization in vision-based drone swarms remains elusive. To this…

An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…