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A Space- and Time-Continuous Model of Self-Organizing Robot Swarms for Design Support

Heiko Hamann, Heinz Worn
2007 First International Conference on Self-Adaptive and Self-Organizing Systems (SASO 2007)  
In this work, we present the derivation of an analytical, time-, and space-continuous model for a swarm of autonomous robots based on the Fokker-Planck equation.  ...  The currently common use of simulations for design support is not satisfying, as it is time-consuming and the results are most likely suboptimal.  ...  ACKNOWLEDGMENTS The authors thank Thomas Schmickl and Christoph Möslinger for providing the data of their simulation runs and the simulation.  ... 
doi:10.1109/saso.2007.3 dblp:conf/saso/HamannW07 fatcat:tn33bolbvvguxnwuoachatb2ym

Towards adaptive multi-robot systems: self-organization and self-adaptation

Christopher-Eyk Hrabia, Marco Lützenberger, Sahin Albayrak
2018 Knowledge engineering review (Print)  
In this article, we present a comprehensive overview over state-of-the-art solutions in emergent systems, self-organization, self-adaptation, and robotics.  ...  Natural swarm systems enjoy similar characteristics, yet, being self-adaptive and being able to self-organize, these systems show beneficial emergent behaviour.  ...  Acknowledgement The authors thank all reviewers and editors for comments that greatly improved the manuscript.  ... 
doi:10.1017/s0269888918000176 fatcat:ryxqd3qmkbe7xeg5cok43wrs7m

Reflections on the future of swarm robotics

Marco Dorigo, Guy Theraulaz, Vito Trianni
2020 Science Robotics  
Swarm robotics will tackle real-world applications by leveraging automatic design, heterogeneity, and hierarchical self-organization.  ...  HW and SW 2010-2015 Different approaches appear for the design of robot swarms: Advanced methods for automatic design (AutoMoDe, novelty search), design patterns, mean-field models, and optimal stochastic  ...  HW 2006-2010 The Swarmanoid project demonstrates for the first time heterogeneous robot swarms composed of three groups of robots: flying, climbing, and ground-based robots.  ... 
doi:10.1126/scirobotics.abe4385 pmid:33298518 fatcat:3cma7adsunfefptizf2jade444

Swarm Robotics: Past, Present, and Future

Marco Dorigo, Guy Theraulaz, Vito Trianni
2021 Proceedings of the IEEE  
S warm robotics deals with the design, construction, and deployment of large groups of robots that coordinate and cooperatively solve a problem or perform a task.  ...  Typically, swarm robotics extracts engineering principles from the study of those natural systems in order to provide multirobot systems with comparable abilities.  ...  For instance, although service robots are usually not organized as a swarm, the coordination of activities and allocation of tasks performed by each robot can be decentralized and self-organized to some  ... 
doi:10.1109/jproc.2021.3072740 fatcat:wgrnvq54jjctfgkdka6rdvmgfa

Hormone-Inspired Self-Organization and Distributed Control of Robotic Swarms

Wei-Min Shen, Peter Will, Aram Galstyan, Cheng-Ming Chuong
2004 Autonomous Robots  
Different from most existing distributed control and learning mechanisms, DHM considers the topological structure of the organization, supports dynamic reconfiguration and self-organization, and requires  ...  This paper uses a bio-inspired control method called the Digital Hormone Model (DHM) to control the tasking and executing of robot swarms based on local communication, signal propagation, and stochastic  ...  Acknowledgment We are grateful that this research is in part supported by AFOSR under contract numbers F49620-01-1-0020 and F49620-01-0441, and by grants from NIH and NSF.  ... 
doi:10.1023/b:auro.0000032940.08116.f1 fatcat:c3l56arwzbegdie2iehozpkwoi

Lattice-based Group Enlargement for a Robot Swarm based on Crystal Growth Models

Kohei Yamagishi, Tsuyoshi Suzuki
2021 International Journal of Advanced Computer Science and Applications  
This study developed a self-organization method for constructing regular groups of robots from scattered robots to achieve coordination between individual and collective states.  ...  We formulate a method for arranging robots in a self-organizing manner based on the geometrical regularities of tile-able lattices (honeycomb, square, and hexagonal lattices) on a two-dimensional plane  ...  ACKNOWLEDGMENT This work was partially supported by the Research Institute for Science and Technology of Tokyo Denki University, grant number Q20D-08 / Japan.  ... 
doi:10.14569/ijacsa.2021.01212110 fatcat:ekkjbprqwze2fbgo5gtzf3rify

Swarm Technology at NASA: Building Resilient Systems

Emil Vassev, Roy Sterritt, Christopher Rouff, Mike Hinchey
2012 IT Professional Magazine  
Developing aerospace systems is a complex task driven by standards and safety requirements to ensure reliability of sophisticated hardware and software.  ...  NASA future missions include an approach to developing swarmbased spacecraft systems comprising multiple self-organizing and autonomous spacecraft.  ...  By forming a swarm, the spacecraft can interact with each other and self-organize. Figure 2 .  ... 
doi:10.1109/mitp.2012.18 fatcat:okhhyoqcmffifbcbxacwf7ccs4

Swarm Robotics: A Perspective on the Latest Reviewed Concepts and Applications

Pollyanna G. Faria Dias, Mateus C. Silva, Geraldo P. Rocha Rocha Filho, Patrícia A. Vargas, Luciano P. Cota, Gustavo Pessin
2021 Sensors  
This paper introduces an overview of current activities in Swarm Robotics and examines the present literature in this area to establish to approach between a realistic swarm robotic system and real-world  ...  Second, we report a review of the principal projects that allow realistic study of Swarm Robotics. We demonstrate knowledge regarding current hardware platforms and multi-robot simulators.  ...  This membrane computing (XP colonies) is a powerful tool for designing and conducting robots in a swarm because they are parallel and distributed models.  ... 
doi:10.3390/s21062062 pmid:33804187 pmcid:PMC8000604 fatcat:3noeec6llvh43pklgdttvkcmme

Algorithmic Foundations of Programmable Matter Dagstuhl Seminar 16271

Sándor P. Fekete, Andréa Richa, Kay Römer, Christian Scheideler
2017 ACM SIGACT News  
about the newest developments in each area and to discuss future models, approaches, and directions for new research.  ...  The aim of this seminar was to bring together researchers from computational geometry, distributed computing, DNA computing, and swarm robotics who have worked on programmable matter to inform one another  ...  We motivate, visualize and demonstrate recent work for minimizing the total execution time of a coordinated, parallel motion plan for a swarm of N robots in the absence of obstacles.  ... 
doi:10.1145/3106700.3106713 fatcat:o5hz273x35b4bng7vczevvv2gu

A review of morphogenetic engineering

René Doursat, Hiroki Sayama, Olivier Michel
2013 Natural Computing  
It is the first initiative of its kind to rally and promote models and implementations of complex self-architecturing systems.  ...  Yet, biological organisms and collective insect constructions are exceptional examples of complex systems (CS) that are both architectured and self-organized.  ...  In a review of morphogenetic robotics, Meng (2011, 2012, Fig. 2 :3) examine methodologies for designing self-organizing, self-reconfigurable and self-adaptive robots inspired by biological morphogenesis  ... 
doi:10.1007/s11047-013-9398-1 fatcat:wm4vmlwuqfbgteigyfuz3vbm2m

Robots swarm communication control based on biological behavior inspiration

Mushreq Abdulhussain Shuriji, Traiq Mohammed Salman, Hussein A. Abdulnabi
2019 Indonesian Journal of Electrical Engineering and Computer Science  
One of the compelling problems is that the robots movements should be in such a way that they should follow a specific guide and at the same time they should have the ability of obstacle avoidance.  ...  an ad-hoc non-essential communication system was proposed for the purpose of use in case of collective takeoff and collective landing swarm-robots, in which activated automatically.  ...  Therefore, to design a model based on flock of birds, a continuous monitoring for a flock of birds is essential to acquire a useful control data.  ... 
doi:10.11591/ijeecs.v16.i3.pp1379-1391 fatcat:t2swe7oagbc67jthd3zh73da6e

Morphogenetic Engineering: Reconciling Self-Organization and Architecture [chapter]

René Doursat, Hiroki Sayama, Olivier Michel
2012 Understanding Complex Systems  
This book is the first initiative of its kind toward establishing a new field of research, Morphogenetic Engineering, to explore the modeling and implementation of "self-architecturing" systems.  ...  Yet, biological organisms and collective insect constructions are exceptional examples of complex systems that are both architectured and self-organized.  ...  They need to design for emergence, i.e., for systems that fundamentally and continually adapt and evolve.  ... 
doi:10.1007/978-3-642-33902-8_1 fatcat:z37vhhqfnnahrhfs4m73l7q7gu

A Deep Reinforcement Learning Environment for Particle Robot Navigation and Object Manipulation [article]

Jeremy Shen, Erdong Xiao, Yuchen Liu, Chen Feng
2022 arXiv   pre-print
However, the particle robot system presents a new set of challenges for DRL differing from existing swarm robotics systems: the low degrees of freedom of each robot and the increased necessity of coordination  ...  Moreover, we use Stable-baselines3 to provide a set of benchmarks for the tasks.  ...  This research is supported by the NSF CPS program under CMMI-1932187.  ... 
arXiv:2203.06464v1 fatcat:hyto64ijf5fr3f3njjwbddxu2a

Hybrid Control of Swarms for Resource Selection [chapter]

Marco Trabattoni, Gabriele Valentini, Marco Dorigo
2018 Lecture Notes in Computer Science  
The design and control of swarm robotics systems generally relies on either a fully self-organizing approach or a completely centralized one.  ...  We investigate a hybrid approach to the control of robot swarms in which a part of the swarm acts as a control entity, estimating global information, to influence the remaining robots in the swarm and  ...  Conclusions and Future Works In this paper, we proposed a new control strategy for a robot swarm based on a combination of centralized information and self-organized behaviors.  ... 
doi:10.1007/978-3-030-00533-7_5 fatcat:xbtjiinsi5f4nm356p3eetjru4

Swarm Robotic Behaviors and Current Applications

Melanie Schranz, Martina Umlauft, Micha Sende, Wilfried Elmenreich
2020 Frontiers in Robotics and AI  
This taxonomy is then applied to categorize a number of existing swarm robotic applications from research and industrial domains.  ...  Many industrial projects still rely on centralized control, and even though a solution with multiple robots is employed, the principal idea of swarm robotics of distributed decision making is neglected  ...  ACKNOWLEDGMENTS We thank Arthur Pitman and Andreas Kercek for proofreading the text.  ... 
doi:10.3389/frobt.2020.00036 pmid:33501204 pmcid:PMC7805972 doaj:b6b5ca0ab5e74460ba9da0c68be2998b fatcat:jhagkabpevccfpfsrtdbozq6wy
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