In this paper we present the Ant Intelligent Robot (AIR), a miniature mobile platform designed for swarm robotic research and education. The proposed system has a modular and distributed architecture that provides the necessary versatility, robustness and user accessibility to enable the study of a broad range of applications, while achieving a low cost. We also present a comparison between AIR...

Swarm robotics is a relatively new technology that is being explored for its potential use in a variety of different applications and environments. Previous emerging technologies have often overlooked security until later developmental stages, when it has had to be undesirably (and sometimes expensively) retrofitted. We identify a number of security challenges for swarm robotics and argue that ...

Swarm robotics offers the promise of enhanced performance and robustness relative to that of individual robots, with decreased cost or time-to-completion for certain tasks. Having many degrees of freedom, the swarm related control and estimation problems are quite challenging, specifically when the solutions involve a large amount of communication among the robots. Under certain sensing modalit...

Inspired by sorting behaviors of social insects, we are interested in sorting by robot swarms using only local information and hence achieving high degrees of robustness and scalability. In this work, we propose a gossip-based sorting method which allows two swarms of simple homogeneous autonomous robots to sort themselves in two not pre-assigned areas. Key feature of this method is the estimat...

In this paper, we propose a time-discrete, macroscopic model able to capture the dynamics of a robotic swarm system engaged in a collaborative manipulation task. The case study is concerned with pulling sticks out of the ground, an action that requires the collaboration of two robots to be successful. We will show that the model can deliver not only quantitatively correct predictions but also b...

In this paper, we compare different aggregation strategies for cuebased aggregation with a mobile robot swarm. We used a sound source as the cue in the environment and performed real robot and simulation based experiments. We compared the performance of two proposed aggregation algorithms we called as the vector averaging and naı̈ve with the state-of-the-art cue-based aggregation strategy BEECLU...

Mobile robots are becoming more relevant and an essential part of our everyday lives. They are increasingly taking their place in service oriented applications including domestic and entertainment roles. They are beginning to open up many potential opportunities, but they still come with challenges in terms of their limited sensing capability and accuracy. In this project, we addressed these fu...

Collective robotics offers the promise of enhanced performance and robustness relative to that of individual robots, with decreased cost or time-to-completion for certain tasks. Having many degrees of freedom, the multi-robot control and estimation problems are challenging, specifically when the solutions require a great amount of communication among the robots. While numerical simulation is a ...

this paper presents designing an optimal adaptive controller for tracking control of robot manipulators based on particle swarm optimization (pso) algorithm. pso algorithm has been employed to optimize parameters of the controller and hence to minimize the integral square of errors (ise) as a performance criteria. in this paper, an improved pso using logic is proposed to increase the convergenc...

In swarm robotics, large groups of relatively simple robots cooperate so that they can perform tasks that go beyond their individual capabilities [1], [2]. The interactions among the robots are based on simple behavioral rules that exploit only local information. The robots in a swarm have neither global knowledge, nor a central controller. Therefore, decisions in the swarm have to be taken in ...