相关论文: Online automatic code generation for robot swarms:…
Self-organized emergent patterns can be widely seen in particle interactions producing complex structures such as chemical elements and molecules. Inspired by these interactions, this work presents a novel stochastic approach that allows a…
Many reasoning, planning, and problem-solving tasks share an intrinsic algorithmic nature: correctly simulating each step is a sufficient condition to solve them correctly. This work studies to what extent Large Language Models (LLMs) can…
We propose a self-contained, resilient and fully distributed solution for locating the maximum of an unknown scalar field using a swarm of robots that travel at a constant speed. Unlike conventional reactive methods relying on gradient…
Linear Temporal Logic (LTL) provides a rigorous framework for specifying long-horizon robotic tasks, yet existing approaches face a trade-off: model-based synthesis relies on accurate labeled transition systems, whereas learning-based…
Smart City applications, such as traffic monitoring and disaster response, often use swarms of intelligent and cooperative drones to efficiently collect sensor data over different areas of interest and time spans. However, when the required…
We present a method for generating, predicting, and using Spatiotemporal Occupancy Grid Maps (SOGM), which embed future semantic information of real dynamic scenes. We present an auto-labeling process that creates SOGMs from noisy real…
When researching robot swarms, many studies observe complex group behavior emerging from the individual agents' simple local actions. However, the task of learning an individual policy to produce a desired group behavior remains a…
For long-term simultaneous planning, localization and mapping (SPLAM), a robot should be able to continuously update its map according to the dynamic changes of the environment and the new areas explored. With limited onboard computation…
Large Language Models (LLMs) have shown strong promise for robotic task planning, particularly through the automatic generation of symbolic planning domains. However, prior work mainly treats generated domains as planning utilities. Such…
Social insects in nature such as ants, termites and bees construct their colonies collaboratively in a very efficient process. In these swarms, each insect contributes to the construction task individually showing redundant and parallel…
Controlling large swarms of robotic agents presents many challenges including, but not limited to, computational complexity due to a large number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the…
Swarm robotics is a creative method of organizing multi-robot structures, consisting of many basic robots influenced by communal insects. The greatest astonishing attribute of swarm robots is their capacity to function together to…
In this letter we propose a data-driven approach to optimizing the algebraic connectivity of a team of robots. While a considerable amount of research has been devoted to this problem, we lack a method that scales in a manner suitable for…
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…
Global optimization has gained attraction over the past decades, thanks to the development of both theoretical foundations and efficient numerical routines. Among recent advances, Kernel Sum of Squares (KernelSOS) provides a powerful…
Indoor positioning systems (IPSs) have gained attention as outdoor navigation becomes prevalent in everyday life. Research is being actively conducted on how indoor smartphone navigation can be accomplished and improved using received…
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 present a new class of neurons, ARNs, which give a cross entropy on test data that is up to three times lower than the one achieved by carefully optimized LSTM neurons. The explanations for the huge improvements that often are achieved…
Neural networks are increasingly used to support decision-making. To verify their reliability and adaptability, researchers and practitioners have proposed a variety of tools and methods for tasks such as NN code verification, refactoring,…
Mobile Crowdsensing (MCS) is a sensing paradigm that has transformed the way that various service providers collect, process, and analyze data. MCS offers novel processes where data is sensed and shared through mobile devices of the users…