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Vision-based Flocking in Aerial Robot Swarms

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In the last few years, stroke ranked as the second most common cause of death and is the third most significant condition affecting disability-adjusted life years (DALYs) worldwide. Being the most prevalent and quality of life impacting post-stroke symptom ...

EPFL2024

Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding

Hala Khodr

Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...

EPFL2023

Model Predictive Control of Aerial Swarms

Enrica Soria

Aerial robot swarms can have a large socio-economic impact. They can perform time-critical missions faster than a single robot and access dangerous environments without compromising human safety. However, swarm deployment is often limited to free environme ...

EPFL2022

Hybrid Wireless-Local Communication via Information Propagation for Modular Robotic Synchronization Applications

Jamie Paik, Kevin Andrew Holdcroft, Christoph Heinrich Belke, Alexander Thomas Sigrist

Modular robots hold promise of adaptability, robustness, and versatility. Synchronization of modules is critical; if a module is asynchronous, not only will the robot fail to perform tasks properly, but its behavior may be self-destructive through self-col ...

WILEY2022

On the Scalability of Vision-based Drone Swarms in the Presence of Occlusions

Dario Floreano, Fabian Maximilian Schilling, Enrica Soria

Vision-based drone swarms have recently emerged as a promising alternative to address the fault-tolerance and flexibility limitations of centralized and communication-based aerial collective systems. Although most vision-based control algorithms rely on th ...

2022

Cellulan World: Interactive Platform to Learn Swarm Behaviors

Pierre Dillenbourg, Barbara Bruno, Hala Khodr, Aditi Kothiyal

Swarming behaviors are ubiquitous in nature, and an important topic to teach and learn. In the learning sciences domain of complex systems understanding, studies have shown that novices tend to assume that centralized control and leadership should exist wh ...

IFAAMAS2022

Vision-based Drone Flocking in Outdoor Environments

Dario Floreano, Fabrizio Schiano, Fabian Maximilian Schilling

Decentralized deployment of drone swarms usually relies on inter-agent communication or visual markers that are mounted on the vehicles to simplify their mutual detection. This letter proposes a vision-based detection and tracking algorithm that enables gr ...

2021

Flocking-enhanced social contagion

Ignacio Pagonabarraga Mora

Populations of mobile agents-animal groups, robot swarms, or crowds of people-self-organize into a large diversity of states as a result of information exchanges with their surroundings. While in many situations of interest the motion of the agents is driv ...

AMER PHYSICAL SOC2020

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Among the available solutions for drone swarm simulations, we identified a lack of simulation frameworks that allow easy algorithms prototyping, tuning, debugging and performance analysis. Moreover, users who want to dive in the research field of drone swa ...

2020

Learning Vision-based Flight in Drone Swarms by Imitation

Dario Floreano, Fabrizio Schiano, Julien Jean Denis Nicolas Lecoeur, Fabian Maximilian Schilling

Decentralized drone swarms deployed today either rely on sharing of positions among agents or detecting swarm members with the help of visual markers. This work proposes an entirely visual approach to coordinate markerless drone swarms based on imitation l ...

2019