相关论文: Fully distributed and resilient source seeking for…
In this paper, a combined formation acquisition and cooperative extremum seeking control scheme is proposed for a team of three robots moving on a plane. The extremum seeking task is to find the maximizer of an unknown two-dimensional…
Collective intelligence and autonomy of robot swarms can be improved by enabling the individual robots to become aware they are the constituent units of a larger whole and what is their role. In this study, we present an algorithm to enable…
Despite their growing popularity, swarms of robots remain limited by the operating time of each individual. We present algorithms which allow a human to sculpt a swarm of robots into a shape that persists in space perpetually, independent…
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…
We present a decentralized algorithm to achieve segregation into an arbitrary number of groups with swarms of autonomous robots. The distinguishing feature of our approach is in the minimalistic assumptions on which it is based.…
Achieving large-scale aerial swarms is challenging due to the inherent contradictions in balancing computational efficiency and scalability. This paper introduces Primitive-Swarm, an ultra-lightweight and scalable planner designed…
In this paper, we consider the problem of scattering a swarm of mobile oblivious robots in a continuous space. We consider the fully asynchronous setting where robots may base their computation on past observations, or may be observed by…
Autonomous exploration in unknown environments remains a fundamental challenge in robotics, particularly for applications such as search and rescue, industrial inspection, and planetary exploration. Multi-robot active SLAM presents a…
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…
The complete collection of sparse resources in large, unknown environments remains a challenging problem for autonomous robot swarms. Previous studies have shown that a substantial portion of total mission time is consumed during the final…
The sliding square model is a widely used abstraction for studying self-reconfigurable robotic systems, where modules are square-shaped robots that move by sliding or rotating over one another. In this paper, we propose a novel distributed…
We consider a single kinematically controlled robot with a bounded control range. The robot travels in a two-dimensional region supporting an unknown unsteady scalar field. A single sensor provides the field value at the current location of…
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…
Premature convergence in particle swarm optimization (PSO) algorithm usually leads to gaining local optimum and preventing from surveying those regions of solution space which have optimal points in. In this paper, by applying special…
Swarms of drones offer an increased sensing aperture, and having them mimic behaviors of natural swarms enhances sampling by adapting the aperture to local conditions. We demonstrate that such an approach makes detecting and tracking…
This paper addresses the challenges of exploration and navigation in unknown environments from the perspective of evolutionary swarm robotics. A key focus is on path formation, which is essential for enabling cooperative swarm robots to…
In this paper, we solve the local gathering problem of a swarm of $n$ indistinguishable, point-shaped robots on a two dimensional grid in asymptotically optimal time $\mathcal{O}(n)$ in the fully synchronous $\mathcal{FSYNC}$ time model.…
Over the past few years, the use of swarms of Unmanned Aerial Vehicles (UAVs) in monitoring and remote area surveillance applications has become widespread thanks to the price reduction and the increased capabilities of drones. The drones…
This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between information gain and energy cost (e.g., control effort,…
This paper introduces a novel model-free, real-time unicycle-based source seeking design. This design autonomously steers the unicycle dynamic system towards the extremum point of an objective function or physical/scalar signal that is…