Models of swarming and modes of controlling them are numerous; however, to date swarm researchers have mostly ignored a fundamental problem that impedes scalable human interaction with large bio-inspired robot swarms, namely, how do you know what the swarm is doing if you can’t observe every agent in the collective? Some swarm models exhibit multiple emergent behaviors from the same parameters....

This paper presents an optimization technique inspired from the collective foraging observed in natural insects, swarm robotics is a new approach to coordinate the behaviors of large number of relatively simple robots in decentralized manner. In such robotic systems, an individual robot have only local perception and very limited capabilities in terms of sensing, computation, and communication ...

A key challenge in robot swarm engineering is the design of individual robot controllers such that the robots as a group can perform a specified task. In this paper, we explore algorithmic options for designing and reconfiguring swarms of synchronous reactive robots to perform a joint navigation / morphogenesis task in a known world. Our results show that neither of these problems can be solved...

Using robot manipulators for high accuracy applications require precise value of the kinematics parameters. Since measurement of kinematics parameters are usually associated with errors and accurate measurement of them is an expensive task, automatic calibration of robot link parameters makes the task of kinematics parameters determination much easier. In this paper a simple and easy to use alg...

In this paper we explore a novel perspective on surveillance robotics, which is based on a coordination principle of honeybees, and on the integration of an autonomous telepresence robot in such system. Coordination principles, based on biological systems such as ant, bee and termite colonies, show several properties which are essential to multi-robot surveillance, including low computation loa...

Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex multi-dimensional optimization problems. This paper proposes a path planning algorithm based on particle swarm optimization for computing a shortest collision-free path...

We address the problem of a swarm of autonomous mobile robotic sensors generating geometric shapes to build wireless ad hoc surveillance sensor networks. Robot swarms with limited observation are required to form different shapes under different task conditions. To do this, we propose decentralized coordination enabling a robot swarm dispersed across an area to form a desired shape. Our approac...

For analysis and mapping as well as long-term studies of water bodies, Autonomous Underwater Vehicles (AUVs) are considered to be a trendsetting opportunity with high potential. Underwater robots combine many benefits differing them from conventional methods like manual explorations with divers and boats or static underwater sensor nets. It is possible to investigate hard-to-reach areas coupled...

Target search and trapping using self-organized swarm robots have received increasing attention in recent years but control design of these systems remains a challenge. In this paper, we propose a decentralized control algorithm of swarm robot for target search and trapping inspired by bacteria chemotaxis. First, a local coordinate system is established according to the initial positions of the...