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Dynamic Control of a Robotic Swarm using a Service-Oriented Architecture

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A major challenge in swarm robotics is efficiently deploying robots into unknown environments, minimising energy and time costs. This is especially important with small aerial robots which have extremely limited flight autonomy. This paper compares three d ...

2010

Evolutionary Synthesis of Communication-Based Aerial Swarms

Sabine Hauert

Aerial swarms have the potential to search for forest fires, chemical plumes or victims and serve as communication and sensor networks in the sky. Flying robots are interesting for such applications because they are fast, can easily overcome difficult terr ...

EPFL2010

Energy Efficient Swarm Deployment for Search in Unknown Environments

Dario Floreano, Timothy Stirling

This paper introduces three strategies to deploy a swarm of robots in unknown environments for a search task, aiming to reduce the total swarm energy cost with rapid operation for applications such as disaster mitigation. We are motivated by current resear ...

Springer-Verlag2010

We examine the ability of a swarm robotic system to transport cooperatively objects of different shapes and sizes. We simulate a group of autonomous mobile robots that can physically connect to each other and to the transported object. Controllers — artifi ...

2009

Distributed Scalable Multi-Robot Learning using Particle Swarm Optimization

Alcherio Martinoli, James Pugh

Designing effective behavioral controllers for mobile robots can be difficult and tedious; this process can be circumvented by using online learning techniques which allow robots to generate their own controllers online in an automated fash- ion. In multi- ...

2009

Specialization as an Optimal Strategy Under Varying External Conditions

Alcherio Martinoli

We present an investigation of specialization when considering the execution of collaborative tasks by a robot swarm. Specifically, we consider the stick-pulling problem first proposed by Martinoli et al. [1], [2] and develop a macroscopic analytical model ...

2009

Scripting the swarm: event-based control of microcontroller-based robots.

Francesco Mondada, Stéphane Magnenat, Philippe Rétornaz, Basilio Noris

Swarm robotics in real world requires a large number of robots and thus enough room for experimentation. Therefore, to implement such experiments with limited budget, robots should be compact and low cost, which entails the use of microcontroller-based min ...

2008

Two-arm haptic force-feedbacked aid for the shoulder and elbow telerehabilitation

Daniel Thalmann, Patrick Salamin, Frédéric Vexo

In this paper, we present a telerehabilitation system aiming to help the physiotherapists for the shoulder and elbow treatment. It is based on a two-arm haptic force feedback to avoid excessive efforts and discomfort with the spinal column. This system, re ...

2008

Communication in a Swarm of Miniature Robots: The e-Puck as an Educational Tool for Swarm Robotics

Alcherio Martinoli, James Pugh, Christopher Cianci, Xavier Raemy

Swarm intelligence, and swarm robotics in particular, are reaching a point where leveraging the potential of communication within an artificial systempromises to uncover newand varied directions for interesting research without compromising the key propert ...

2007

Coordination schemes for distributed boundary coverage with a swarm of miniature robots

Nicolaus Correll

We provide a comparison of a series of original coordination mechanisms for the distributed boundary coverage problem with a swarm of miniature robots. Our analysis is based on real robot experimentation and models at different levels of abstraction. Distr ...

EPFL2007