Hamid Majidi Balanji, Ali Emre Turgut
This paper presents a novel computer vision the algorithm proposed for the on-line range and bearing detection of the robot swarms. Results demonstrated the reliability of the proposed vision system such that it can be used for the robot swarms applications.
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An essential problem of swarm robotics is how members of the swarm knows the positions of other robots. The main aim of this research is to develop a cost-effective and simple vision-based system to detect the range, bearing, and heading of the robots inside a swarm using a multi-purpose passive landmark. A small Zumo robot equipped with Raspberry Pi, PiCamera is utilized for the implementation of the algorithm, and different kinds of multipurpose passive landmarks with nonsymmetrical patterns, which give reliable information about the range, bearing and heading in a single unit, are designed.…
Certifiable Mutual Localization and Trajectory Planning for Bearing-Based Robot Swarm
本文针对基于方位测量的机器人集群，提出可认证互定位算法和基于可微分抗噪度量的集群轨迹规划器，在任意噪声下严格保证估计最优性并提升集群协作性能。
When designing swarm-robotic systems, systematic comparison of algorithms from different domains is necessary to determine which is capable of scaling up to handle the target problem size and target operating conditions. We propose a set of quantitative metrics for scalability, flexibility, and emergence which are capable of addressing these needs during the system design process. We demonstrate the applicability of our proposed metrics as a design tool by solving a large object gathering problem in temporally varying operating conditions using iterative hypothesis evaluation. We provide exper…
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 accomplish a collective objective. This paper addresses the list of current surveys, problems and algorithms that were stimulated in the research of Coordinated Movement in Swarm robotics. Algorithms for swarm robotics movement are contrasted, considering the swarm micro-robots to accomplish aggregation, creation, and clamouring by contrasting the relative computatio…
In this work we consider three different cases of robot-robot interactions and resulting global information transfer in robot swarms. These mechanisms define cooperative properties of the system and can be used for designing collective behavior. These three cases are demonstrated and discussed based on experiments in a swarm of microrobots "Jasmine".
Cooperation and competition among stand-alone swarm agents increase collective fitness of the whole system. A principally new kind of collective systems is demonstrated by some bacteria and fungi, when they build symbiotic organisms. Symbiotic life forms emerge new functional and self-developmental capabilities, which allow better survival of swarm agents in different environments. In this paper we consider energy foraging scenario for two robotic species, swarm robots and symbiotic robot organism. It is indicated that aggregation of microrobots into a robot organism can provide better functio…
This work provides an extension of Ardupilot's capabilities to allow researchers to develop swarm robotics applications in Robot Operating System(ROS)/Gazebo simulations. Ardupilot is a tool used for autopilot functions in autonomous air, land and underwater robots. However, the original Ardupilot was not designed for applications in the field of swarm robotics. Hence, the main contribution of this paper is to endow Ardupilot with the capability to handle swarm robotics simulations, including the refactoring of the manufacturer's description files. This work offers a comprehensive and realisti…
Automatically designing robot swarms in environments populated by other robots: an experiment in robot shepherding
本文研究在存在其他机器人的环境中自动设计机器人集群，以机器人牧羊为框架，使用自动模块化设计和神经进化生成牧羊犬集群的控制软件，实现与羊群的有效协调。
Collective perception for tracking people with a robot swarm
本研究针对机器人群动态环境监测需求，提出基于群体感知的人员集体追踪方法，经多办公环境仿真实验验证，该方案在动态监测中具备显著应用潜力。
Distributed Spatial Awareness for Robot Swarms
针对仅具备局部感知与通信能力的机器人集群，本文提出利用机器人间的局部观测、高斯置信传播消息传递及集群持续运动，构建全局且分布式的集群中心参考系，以低带宽和低计算开销支持新集群算法，并在仿真中验证了系统并演示了两个示例算法。
Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot swarms, most studies have been conducted in simulation, and the few that have been conducted on real robots have been confined to laboratory environments. In this paper, we demonstrate for the first time a swarm robotics system with evolved control successfully operating in a real and uncontrolled environment. We evolve neural network-based controllers in s…
Swarm robotic systems are systems in which multiple robots having simple functionality perform tasks through their cooperation, and are advantageous in that they can exhibit non-trivial macroscopic functions such as adaptability, fault tolerance, and scalability. We previously proposed a simple model of swarm formation inspired by friendship formation process in human society, and demonstrated via simulation that various non-trivial patterns emerge. In this study, we examine the applicability of the proposed model to a swarm robotic system. As a first step, we developed five robots and demonst…
We present a deep reinforcement learning-based framework for automatically discovering patterns available in any given initial configuration of fat robot swarms. In particular, we model the problem of collision-less gathering and mutual visibility in fat robot swarms and discover patterns for solving them using our framework. We show that by shaping reward signals based on certain constraints like mutual visibility and safe proximity, the robots can discover collision-less trajectories leading to well-formed gathering and visibility patterns.
Localized communication in swarms has been shown to increase swarm effectiveness in some situations by allowing for additional opportunities for cooperation. However, communication and utilization of potentially outdated information is also a concern. We present an explicit non-directional goal-based communication model and message accept/reject scheme, and test our model in a set of object gathering experiments with a swarm of robots. The results of the experiments indicate that even low levels of communication regarding the swarm's goal outperform high levels of random information communicat…
Swarm Oracle: Trustless Blockchain Agreements through Robot Swarms
本文提出 Swarm Oracle，一种由多利益相关方自主机器人群体构成的去中心化预言机网络，利用拜占庭容错协议和基于区块链代币的声誉系统，在对抗攻击下实现无信任的现实世界数据共识并自主恢复。
Mean-Shift Theory and Its Applications in Swarm Robotics: A New Way to Enhance the Efficiency of Multi-Robot Collaboration
本文综述了群体机器人无分配协作的最新进展，重点介绍均值漂移探索策略如何将大规模群体形状形成效率提升数十倍，并展示其在智能仓储、区域探索和货物运输中的应用。
This work is devoted to communication approaches, which spread information in robot swarms. These mechanisms are useful for large-scale systems and also for such cases when a limited communication equipment does not allow routing of information packages. We focus on two approaches such as virtual fields and epidemic algorithms, discuss several aspects of hardware implementation and demonstrate experiments performed with microrobots "Jasmine".
Infra-Swarm: Robust Vision-Based Multi-Robot Swarming via Near-Infrared Spectral Vision
研究针对分布式集群受带宽或环境限制问题，提出Infra-Swarm，通过机器人配备近红外光源和相机，利用光学耀斑测量邻居3D位置，借助窄带滤波器抗干扰，以最小计算开销实现集群大规模可扩展性。
Predictive Fault Tolerance for Autonomous Robot Swarms
针对机器人集群故障显现后再处理的低效与安全风险，提出基于预防性维护的预测性容错方法，在故障演变为失效前自主检测并解决，实验表明可提升集群性能并避免机器人失效。
Source-Seeking Problem with Robot Swarms
提出一种仅依赖场强测量、适用于通用编队几何的机器人群体源搜索算法，可应对复杂动力学与动态成员变化，并经数值模拟验证。
Coordinated motion control in swarm robotics aims to ensure the coherence of members in space, i.e., the robots in a swarm perform coordinated movements to maintain spatial structures. This problem can be modeled as a tracking control problem, in which individuals in the swarm follow a target position with the consideration of specific relative distance or orientations. To keep the communication cost low, the PID controller can be utilized to achieve the leader-follower tracking control task without the information of leader velocities. However, the controller's parameters need to be optimized…
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 of heterogeneous robots that self-aggregate over distinct target sites. A previous study has shown that including as part of the swarm a number of informed robots can steer the dynamic of the aggregation process to a desirable distribution of the swarm between the available aggregation sites. We have replicated the results of the previous study using a simpl…
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 equipped with private 5G, motion capture, multiple cameras, and openly accessible via an online portal. We reduce barriers to entry by providing a complete platform-agnostic pipeline to develop, simulate, and deploy experimental applications to the swarm. We showcase the testbed capabilities with a swarm logistics application, autonomously and reliably searchi…
Robot swarms have been shown to improve the ability of individual robots by inter-robot collaboration. In this paper, we present the PuzzleBots - a low-cost robotic swarm system where robots can physically couple with each other to form functional structures with minimum energy consumption while maintaining individual mobility to navigate within the environment. Each robot has knobs and holes along the sides of its body so that the robots can couple by inserting the knobs into the holes. We present the characterization of knob design and the result of gap-crossing behavior with up to nine robo…
Swarm robotics has experienced a rapid expansion in recent years, primarily fueled by specialized multi-robot systems developed to achieve dedicated collective actions. These specialized platforms are in general designed with swarming considerations at the front and center. Key hardware and software elements required for swarming are often deeply embedded and integrated with the particular system. However, given the noticeable increase in the number of low-cost mobile robots readily available, practitioners and hobbyists may start considering to assemble full-fledged swarms by minimally retrof…
In this paper, we present a heterogeneous robot swarm system that can physically couple with each other to form functional structures and dynamically decouple to perform individual tasks. The connection between robots can be formed with a passive coupling mechanism, ensuring minimum energy consumption during coupling and decoupling behavior. The heterogeneity of the system enables the robots to perform structural enhancement configurations based on specific environmental requirements. We propose a connection-pair oriented configuration control algorithm to form different assemblies. We show ex…
Hierarchies define the scalability of robot swarms
本文通过仿真与物理实验证明，相比平等主义集群，层级化集群能以更少资源在更大、更复杂环境中高效扩展感知范围，为行星探索和自动驾驶等应用提供可扩展的集群设计依据。
Music-driven Robot Swarm Painting
本文提出一种新颖的机器人集群控制框架，利用异构覆盖策略将音乐输入转化为绘画，并在仿真和配备LED灯的真实机器人上验证了其光绘有效性。
In the last few decades we have witnessed how the pheromone of social insect has become a rich inspiration source of swarm robotics. By utilising the virtual pheromone in physical swarm robot system to coordinate individuals and realise direct/indirect inter-robot communications like the social insect, stigmergic behaviour has emerged. However, many studies only take one single pheromone into account in solving swarm problems, which is not the case in real insects. In the real social insect world, diverse behaviours, complex collective performances and flexible transition from one state to ano…
Distributed Multi-Coverage for Robot Swarms
本文提出了一种分布式多覆盖算法，用于解决机器人群在局部感知、局部通信和无全局协调的情况下，维持关键资产可靠覆盖的问题，同时应对机器人故障等约束条件。
Express Yourself: Enabling large-scale public events involving multi-human-swarm interaction for social applications with MOSAIX
本文提出MOSAIX系统，通过63个去中心化机器人Tiles群体在科学博物馆收集294名参与者输入并按主题聚合，实现了大规模多人-群体交互公共活动，为未来社会应用研究提供了实践经验。
Particle Swarm Optimisation (PSO) is a powerful optimisation algorithm that can be used to locate global maxima in a search space. Recent interest in swarms of Micro Aerial Vehicles (MAVs) begs the question as to whether PSO can be used as a method to enable real robotic swarms to locate a target goal point. However, the original PSO algorithm does not take into account collisions between particles during search. In this paper we propose a novel algorithm called Force Field Particle Swarm Optimisation (FFPSO) that designates repellent force fields to particles such that these fields provide an…
BayesCPF: Enabling Collective Perception in Robot Swarms with Degrading Sensors
本文提出BayesCPF方法，通过扩展卡尔曼滤波器使传感器持续退化的机器人集群准确估计环境填充率，并在多种退化模型和实验中验证其估计性能接近已知真实传感器精度的情形。
Autonomous swarms of robots can bring robustness, scalability and adaptability to safety-critical tasks such as search and rescue but their application is still very limited. Using semi-autonomous swarms with human control can bring robot swarms to real-world applications. Human operators can define goals for the swarm, monitor their performance and interfere with, or overrule, the decisions and behaviour. We present the ``Human And Robot Interactive Swarm'' simulator (HARIS) that allows multi-user interaction with a robot swarm and facilitates qualitative and quantitative user studies through…
Self-organizing Nervous Systems for Robot Swarms
提出自组织神经系统SoNS，通过动态多层级层级让机器人群体在局部集中协调与自组织优势间取得平衡，并在真实异构空地群体和250机器人仿真中验证其性能与容错性。
This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large swarms of simple robots which are capable of measuring only the distance to near-by robots. We present two distributed localization algorithms with different trade-offs between their computational complexity and their coordination requirements. The first algorithm does not require the robots to coordinate their motion. It relies on a non-linear least squares bas…
Robot Swarm Control Based on Smoothed Particle Hydrodynamics for Obstacle-Unaware Navigation
针对机器人集群因感知受限难以适应未知障碍物的问题，提出基于SPH模型的间接障碍物检测控制方法，仅凭速度预测碰撞，实现无显式检测的鲁棒导航与编队。
This paper describes the methodology and outcomes of a series of educational events conducted in 2021 which leveraged robot swarms to educate high-school and university students about epidemiological models and how they can inform societal and governmental policies. With a specific focus on the COVID-19 pandemic, the events consisted of 4 online and 3 in-person workshops where students had the chance to interact with a swarm of 20 custom-built brushbots -- small-scale vibration-driven robots optimized for portability and robustness. Through the analysis of data collected during a post-event su…
We present a number of powerful local mechanisms for maintaining a dynamic swarm of robots with limited capabilities and information, in the presence of external forces and permanent node failures. We propose a set of local continuous algorithms that together produce a generalization of a Euclidean Steiner tree. At any stage, the resulting overall shape achieves a good compromise between local thickness, global connectivity, and flexibility to further continuous motion of the terminals. The resulting swarm behavior scales well, is robust against node failures, and performs close to the best kn…
Detecting and Diagnosing Faults in Autonomous Robot Swarms with an Artificial Antibody Population Model
本文提出人工抗体种群动力学模型，用于检测和诊断机器人群体中的渐进退化及性能突变，具有分布式、可扩展特性，能使退化群体保持70%-97%的正常性能。
Using robots for exploration of extreme and hazardous environments has the potential to significantly improve human safety. For example, robotic solutions can be deployed to find the source of a chemical leakage and clean the contaminated area. This paper demonstrates a proof-of-concept bio-inspired exploration method using a swarm robotic system, which is based on a combination of two bio-inspired behaviours: aggregation, and pheromone tracking. The main idea of the work presented is to follow pheromone trails to find the source of a chemical leakage and then carry out a decontamination task …
Securing Federated Learning in Robot Swarms using Blockchain Technology
本文提出利用区块链智能合约在机器人集群中实现去中心化联邦学习，并设计防篡改保护机制以抵御故障机器人对训练过程的干扰。
Leveraging swarm capabilities to assist other systems
本文突破将机器人群体视为独立系统的传统视角，提出让群体在含其他机器人或人类操作员的异构系统中提供数据采集支持，拓展群体机器人学应用。
Optimization and Evaluation of Multi Robot Surface Inspection Through Particle Swarm Optimization
针对多机器人表面巡检任务，提出基于粒子群优化的抗噪声参数优化方案，结合决策准确率与时间评估适应度，经仿真验证较经验参数提升适应度中位数最高达55%。
A Unified Stochastic Mechanism Underlying Collective Behavior in Ants, Physical Systems, and Robotic Swarms
本文通过蚂蚁实验揭示生物与物理系统共享“不同能量函数约束下最大化”的随机机制，并据此构建统一随机模型，使机器人集群能以极低个体计算实现可扩展、去中心化的相变式合作。
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. Specifically, we assume that (i) Each robot is equipped with a ternary sensor capable of detecting the presence of a single nearby robot, and, if that robot is present, whether or not it belongs to the same group as the sensing robot; (ii) The robots move according to a differential drive model; and (iii) The structure of the control system is purely reactive, and it m…
In this paper we study the time delays affecting the diffusion of information in an underwater heterogeneous robot swarm, considering a time-sensitive environment. In many situations each member of the swarm must update its knowledge about the environment as soon as possible, thus every effort to expand the knowledge horizon is useful. Otherwise critical information may not reach nodes far from the source causing dangerous misbehaviour of the swarm. We consider two extreme situations. In the first scenario we have an unique probabilistic delay distribution. In the second scenario, each agent i…
SubCDM: Collective Decision-Making with a Swarm Subset
针对现有机器人群体集体决策需全员参与、资源消耗高的问题，提出动态去中心化的SubCDM方法，仅用自适应规模的群体子集决策，在100台机器人仿真中准确率比肩全群体方案，更节省资源。
Although fiducial markers give an accurate pose estimation in laboratory conditions, where the noisy factors are controlled, using them in field robotic applications remains a challenge. This is constrained to the fiducial maker systems, since they only work within the RGB image space. As a result, noises in the image produce large pose estimation errors. In robotic applications, fiducial markers have been mainly used in its original and simple form, as a plane in a printed paper sheet. This setup is sufficient for basic visual servoing and augmented reality applications, but not for complex s…
Asymmetric physics enables efficient learning in quadrupedal robot swarms
通过非对称物理方法，将高保真非可微模拟器与可微代理模型结合，实现多达512个四足机器人在障碍环境中高效学习视觉去中心化协调策略，并零样本迁移到真实机器人。
This paper presents the WiFi-Sensor-for-Robotics (WSR) toolbox, an open source C++ framework. It enables robots in a team to obtain relative bearing to each other, even in non-line-of-sight (NLOS) settings which is a very challenging problem in robotics. It does so by analyzing the phase of their communicated WiFi signals as the robots traverse the environment. This capability, based on the theory developed in our prior works, is made available for the first time as an opensource tool. It is motivated by the lack of easily deployable solutions that use robots' local resources (e.g WiFi) for se…
Greedy Kalman-Swarm: Improving State Estimation in Robot Swarms in Harsh Environments
本文提出贪心卡尔曼-群方法，通过局部分布式状态估计提升机器人群在恶劣环境中的状态估计精度，平衡了独立估计的低开销与集中系统的高精度。
We present a distributed algorithm for a swarm of active particles to camouflage in an environment. Each particle is equipped with sensing, computation and communication, allowing the system to take color and gradient information from the environment and self-organize into an appropriate pattern. Current artificial camouflage systems are either limited to static patterns, which are adapted for specific environments, or rely on back-projection, which depend on the viewer's point of view. Inspired by the camouflage abilities of the cuttlefish, we propose a distributed estimation and pattern form…
Distributed Surface Inspection via Operational Modal Analysis by a Swarm of Miniaturized Vibration-Sensing Robots
本文提出利用微型振动感知机器人集群进行分布式表面检测，结合高斯过程估计器引导探索与运行模态分析，在高保真仿真环境中有效定位并检测钢制表面结构损伤。
Distributed pose graph optimization (DPGO) is one of the fundamental techniques of swarm robotics. Currently, the sub-problems of DPGO are built on the native poses. Our validation proves that this approach may introduce an imbalance in the sizes of the sub-problems in real-world scenarios, which affects the speed of DPGO optimization, and potentially increases communication requirements. In addition, the coherence of the estimated poses is not guaranteed when the robots in the swarm fail, or partial robots are disconnected. In this paper, we propose BDPGO, a balanced distributed pose graph op…
SPACE: Swarm Pheromone Fields for Adaptive Collision-Aware Exploration
针对大规模地面机器人群体在拥挤环境中探索时的安全-效率权衡问题，提出SPACE方法，通过维护吸引前沿信息素、排斥探索信息素和快速机器人密度场实现去中心化协调，在真实建筑平面图上将碰撞率降低4-17倍，覆盖时间仅增加约2%。
We present an augmented reality human-swarm interface that combines two modalities of interaction: environment-oriented and robot-oriented. The environment-oriented modality allows the user to modify the environment (either virtual or physical) to indicate a goal to attain for the robot swarm. The robot-oriented modality makes it possible to select individual robots to reassign them to other tasks to increase performance or remedy failures. Previous research has concluded that environment-oriented interaction might prove more difficult to grasp for untrained users. In this paper, we report a u…
In this paper, we propose an approach to the distributed storage and fusion of data for collective perception in resource-limited robot swarms. We demonstrate our approach in a distributed semantic classification scenario. We consider a team of mobile robots, in which each robot runs a pre-trained classifier of known accuracy to annotate objects in the environment. We provide two main contributions: (i) a decentralized, shared data structure for efficient storage and retrieval of the semantic annotations, specifically designed for low-resource mobile robots; and (ii) a voting-based, decentrali…
Most of the existing formation algorithms for multiagent systems are fully label-specified, i.e., the desired position for each agent in the formation is uniquely determined by its label, which would inevitably make the formation algorithms vulnerable to agent failures. To address this issue, in this paper, we propose a dynamic leader-follower approach to solving the line marching problem for a swarm of planar kinematic robots. In contrast to the existing results, the desired positions for the robots in the line are not fully label-specified, but determined in a dynamic way according to the cu…
Adaptive Self-Calibration for Minimalistic Collective Perception by Imperfect Robot Swarms
针对群体感知MCP算法需已知传感器精度的现实局限，提出结合假设检验的ASDF自适应自校准方法，可大幅缓解精度未知导致的性能下降，甚至达到预先知晓精度的水平。
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