Publication
Communication in a Swarm of Miniature Robots: The e-Puck as an Educational Tool for Swarm Robotics
Publications associées (84)
Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding
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 ...
EPFL2023Model Predictive Control of Aerial Swarms
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 ...
EPFL2022Vision-based Flocking in Aerial Robot Swarms
Aerial robot swarms have the potential to perform time-critical and dangerous tasks such as disaster response without compromising human safety. However, their reliance on external infrastructure such as global positioning for localization and wireless net ...
EPFL2022Hybrid 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 ...
WILEY2022On 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 ...
2022Cellulan 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 ...
IFAAMAS2022Robust Localization for Multi-robot Formations: An Experimental Evaluation of an Extended GM-PHD Filter
Alcherio Martinoli, Alicja Barbara Roelofsen, Michiaki Hirayama
This paper presents a thorough experimental evaluation of an extended Gaussian Mixture Probability Hypothesis Density filter which is able to provide state estimates for the maintenance of a multirobot formation, even when the communication fails and the t ...
Springer Nature2021Distributed Predictive Drone Swarms in Cluttered Environments
Dario Floreano, Fabrizio Schiano, Enrica Soria
Recent works in aerial robotics show that the self-organized and cohesive flight of swarms can emerge from the exchange of purely local information between neighboring agents. However, most of the current swarm models are not capable of flight in densely c ...
2021Predictive control of aerial swarms in cluttered environments
Dario Floreano, Fabrizio Schiano, Enrica Soria
Classical models of aerial swarms often describe global coordinated motion as the combination of local interactions that happen at the individual level. Mathematically, these interactions are represented with potential fields. Despite their explanatory suc ...
2021Flocking-enhanced social contagion
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