Dealing with Mid-Air Collisions in Dense Collective Aerial Systems

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A Distributed Noise-Resistant Particle Swarm Optimization Algorithm for High-Dimensional Multi-Robot Learning

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

Population-based learning techniques have been proven to be effective in dealing with noise in numerical benchmark functions and are thus promising tools for the high-dimensional optimization of controllers for multiple robots with limited sensing capabili ...

2015

Decentralized Self-Selection of Swarm Trajectories: From Dynamical Systems to Robotic Implementation

Francesco Mondada, Max-Olivier Hongler, Guillaume Adrien Sartoretti, Marcelo Elias de Oliveira

In this paper, we present a distributed control strategy, enabling agents to converge onto and travel along a consensually selected curve among a class of closed planar curves. Individual agents identify the number of neighbors within a finite circular sen ...

Springer Verlag2014

Energy-Time Efficiency in Aerial Swarm Deployment

Dario Floreano, Timothy Stirling

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 ...

Springer-Verlag Berlin2013

Indoor Navigation with a Swarm of Flying Robots

Dario Floreano, Jean-Christophe Zufferey, Timothy Stirling, James Roberts

Swarms of flying robots are promising in many applications due to rapid terrain coverage. However, there are numerous challenges in realising autonomous operation in unknown indoor environments. A new autonomous flight methodology is presented using relati ...

IEEE2012

SEARCHING LOST PEOPLE WITH UAVS: THE SYSTEM AND RESULTS OF THE CLOSE-SEARCH PROJECT

Jan Skaloud

This paper will introduce the goals, concept and results of the project named CLOSE-SEARCH, which stands for ’Accurate and safe EGNOS-SoL Navigation for UAV-based low-cost Search-And-Rescue (SAR) operations’. The main goal is to integrate a medium-size, he ...

2012

Historical contingency affects signaling strategies and competitive abilities in evolving populations of simulated robots

Dario Floreano, Laurent Keller

One of the key innovations during the evolution of life on earth has been the emergence of efficient communication systems, yet little is known about the causes and consequences of the great diversity within and between species. By conducting experimental ...

National Academy of Sciences2012

Enabling Large-Scale Collective Systems in Outdoor Aerial Robotics

Severin Leven

For many real-life applications such as monitoring, mapping, search-and-rescue or ad-hoc communication networks, fleets of flying robots are expected to out-perform existing solutions. Robots can join forces to cover larger areas in less time, act as effic ...

EPFL2011

Reynolds flocking in reality with fixed-wing robots: communication range vs. maximum turning rate

Dario Floreano, Jean-Christophe Zufferey, Sabine Hauert, Severin Leven, Maja Varga

The success of swarm behaviors often depends on the range at which robots can communicate and the speed at which they change their behavior. Challenges arise when the communication range is too small with respect to the dynamics of the robot, preventing in ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2011

Energy-Efficient Indoor Search by Swarms of Flying Robots without Global Information

Timothy Stirling

Swarms of robots can quickly search large environments through parallelisation, are robust due to redundancy, and can simplify complex tasks like navigation compared to a single robot. Flying swarms can rapidly cover rough terrain and have elevated sensing ...

EPFL2011

Enabling Collective Operation of Indoor Flying Robots

James Roberts

Collective flying robots show great potential in many diverse indoor applications. Their added robustness, parallel operation and redundancy has clear advantages over a single flying robot. However, flying within cluttered and unprepared indoor environment ...

EPFL2011

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Historical contingency affects signaling strategies and competitive abilities in evolving populations of simulated robots

Dario Floreano, Laurent Keller

National Academy of Sciences2012