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

Publications associées (89)

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Although the technology for fully autonomous swarms of robots is rapidly progressing, the human operator will continue to play an important role during any swarming mission due to safety, monitoring and control constraints. In this paper, we present the se ...

Springer2016

Elicitation and Aggregation of Crowd Information

Goran Radanovic

This thesis addresses challenges in elicitation and aggregation of crowd information for settings where an information collector, called center, has a limited knowledge about information providers, called agents. Each agent is assumed to have noisy private ...

EPFL2016

On the Richter-Thomassen Conjecture about Pairwise Intersecting Closed Curves

János Pach, Gábor Tardos

A long-standing conjecture of Richter and Thomassen states that the total number of intersection points between any n simple closed Jordan curves in the plane, so that any pair of them intersect and no three curves pass through the same point, is at least ...

Cambridge Univ Press2016

This thesis studies the automatic design and optimization of high-performing robust controllers for mobile robots using exclusively on-board resources. Due to the often large parameter space and noisy performance metrics, this constitutes an expensive opti ...

EPFL2015

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

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In this paper we address the automatic synthesis of controllers for the coordinated movement of multiple mobile robots. We use a noise-resistant version of Particle Swarm Optimization to learn in simulation a set of 50 weights of a plastic artificial neura ...

The MIT Press2015

Extension of a Ground Control Interface for Swarms of Small Drones

Dario Floreano, Grégoire Hilaire Marie Heitz, Nicolas Dousse

2015

Leader-Based versus Soft Control of Multi-Agent Swarms

Guillaume Adrien Sartoretti

We focus on the control of heterogeneous swarms of agents that evolve in a random environment. Control is achieved by introducing special agents: leader and infiltrated (shill) agents. A refined distinction is made between hidden and apparent controlling a ...

Springer2015

Distributed Learning of Cooperative Robotic Behaviors using Particle Swarm Optimization

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

In this paper we study the automatic synthesis of robotic controllers for the coordinated movement of multiple mobile robots. The algorithm used to learn the controllers is a noise-resistant version of Particle Swarm Optimization, which is applied in two d ...

2014

Eliciting Truthful Information with the Peer Truth Serum

Boi Faltings, Radu Jurca, Goran Radanovic

We consider settings where a collective intelligence is formed by aggregating information contributed from many independent agents, such as product reviews, community sensing or opinion polls. To encourage participation and avoid selection bias, agents sho ...

2014