相关论文: Swarm-in-Blocks: Simplifying Drone Swarm Programmi…
We present Neural-Swarm2, a learning-based method for motion planning and control that allows heterogeneous multirotors in a swarm to safely fly in close proximity. Such operation for drones is challenging due to complex aerodynamic…
The paper focuses on a heterogeneous swarm of drones to achieve a dynamic landing of formation on a moving robot. This challenging task was not yet achieved by scientists. The key technology is that instead of facilitating each agent of the…
Large Language Models (LLMs) are increasingly explored as high-level reasoning engines for cyber-physical systems, yet their application to real-time UAV swarm management remains challenging due to heterogeneous interfaces, limited…
Heterogeneous teams of mobile robots and UAVs are offering a substantial benefit in an autonomous exploration of the environment. Nevertheless, although joint exploration scenarios for such systems are widely discussed, they are still…
The development of control policies for multi-robot systems traditionally follows a complex and labor-intensive process, often lacking the flexibility to adapt to dynamic tasks. This has motivated research on methods to automatically create…
We present Buzz, a novel programming language for heterogeneous robot swarms. Buzz advocates a compositional approach, offering primitives to define swarm behaviors both from the perspective of the single robot and of the overall swarm.…
The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robots is particularly challenging in field deployments.…
Traditional unmanned aerial vehicle (UAV) swarm missions rely heavily on expensive custom-made drones with onboard perception or external positioning systems, limiting their widespread adoption in research and education. To address this…
To achieve a smooth and safe guiding of a drone formation by a human operator, we propose a novel interaction strategy for a human-swarm communication which combines impedance control and vibrotactile feedback. The presented approach takes…
In recent years, the field of aerial robotics has witnessed significant progress, finding applications in diverse domains, including post-disaster search and rescue operations. Despite these strides, the prohibitive acquisition costs…
This paper introduces a testbed to study distributed sensing problems of Unmanned Aerial Vehicles (UAVs) exhibiting swarm intelligence. Several Smart City applications, such as transport and disaster response, require efficient collection…
More and more off-the-shelf drones provide frameworks that enable the programming of flight paths. These frameworks provide vendor-dependent programming and communication interfaces that are intended for flight path definitions. However,…
We propose a novel framework for the allocation of drone swarms for delivery services known as Swarm-based Drone-as-a-Service (SDaaS). The allocation framework ensures minimum cost (aka maximum profit) to drone swarm providers while meeting…
UAV swarms have triggered wide concern due to their potential application values in recent years. While there are studies proposed in terms of the architecture design for UAV swarms, two main challenges still exist: (1) Scalability,…
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…
Emerging on-demand connectivity scenarios increasingly require networking solutions with stringent service-level guarantees. We propose Swarm Network-as-a-Service (SNaaS), a service-oriented framework that leverages fleets of drones to…
As artificial intelligence engineering paradigms shift from single-agent Prompt and Context Engineering toward multi-agent \textbf{Coordination Engineering}, the ability to codify and systematically improve how multiple agents collaborate…
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…
Swarm robotics is the study of how a large number of relatively simple robots can be designed so that a desired collective behaviour emerges from the local interactions among robots and between the robots and their environment. While many…
Swarm intelligence is the collective behavior emerging in systems with locally interacting components. Because of their self-organization capabilities, swarm-based systems show essential properties for handling real-world problems such as…