In practical applications of robot swarms with bio-inspired behaviors, a human operator will need to exert control over the swarm to fulfill the mission objectives. In many operational settings, human operators are remotely located and the communication environment is harsh. Hence, there exists some latency in information (or control command) transfer between the human and the swarm. In this pa...

In this report progress towards the development of a mechanism that will facilitate the building of structures by a robotic swarm is detailed. While the results recorded are preliminary and represent work in progress, it has been found that the implementation method for the conceived idea of utilising a light-field template that varies in both space and time is valid.

This paper presents a novel design for mobile robot using particle swarm optimization (PSO) and adaptive NN control. The adaptive NN control strategy guarantees that robot with nonholonomic constraints can follow smooth trajectories. Based on this property, a PSO algorithm for path planning is proposed. The path planning generates smooth path with low computational cost to avoid obstacles, so t...

This paper is devoted to local sensing and communication for collective underwater systems used in networked and swarm modes. It is demonstrated that a specific combination of modal and sub-modal communication, used simultaneously for robot-robot and robot-object detection, can create a dedicated cooperation between multiple AUVs. These technologies, platforms and experiments are shortly descri...

Robotic swarm behavior is usually demonstrated using groups of robots, in which each robot in the swarm must possess full mobile capabilities, including the ability to control both forward and reverse motion as well as directional steering. Such requirements place severe constraints on the cost and size of the individual robots (swarmers), limiting the number of units and constraining the overa...

Swarm robotic systems can offer many advantages including robustness, flexibility and scalability. However one of the issues relating to overall swarm performance that needs to be considered is hardware variations inherent in the implementation of individual swarm robots. This variation can bring behavioral diversity within the swarm, resulting in uncontrollable swarm behaviors, low efficiency,...

Tartan Swarm was an autonomous, multi-robot entry in the 2002 Mobile Robot Urban Search and Rescue Competition. The robots were designed to be low-cost, adaptable, and disposable. Emphasis was given to human detection techniques, The design did not feature localization or mapping capability. In the competition, the robots may have detected bodies, but were unable to report location or success.

In this paper we address the problem of multiple odor source localization using mobile robot swarms modelled as network robot systems. These networked robots are used to locate multiple radiation/odor sources like oil spills, leaks in pressurized systems, hazardous plumes/aerosols resulting from nuclear/chemical spills, deepsea hydrothermal vent plumes, fire-origins in forest fires, and hazardo...

This chapter introduces a swarm intelligence-inspired approach for target allocation in large teams of autonomous robots. For this purpose, the Distributed Bees Algorithm (DBA) was proposed and developed by the authors. The algorithm allows decentralized decision-making by the robots based on the locally available information, which is an inherent feature of animal swarms in nature. The algorit...

In this paper, an optimal stable algorithm is presented for members of a robots swarm moving toward a target. Equations of motion of the swarm are based on Lagrangian energy equations. Regarding of similar research On the design of swarm motion algorithm, an equation of motion considered constraints to guarantee no collision between the members and the members and obstacles along the motion pat...