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Control of agent swarms in random environments

Publications associées (118)

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Kilobot: A low cost robot with scalable operations designed for collective behaviors

Adrian Cabrera

In current robotics research there is a vast body of work on algorithms and control methods for groups of decentralized cooperating robots, called a swarm or collective. These algorithms are generally meant to control collectives of hundreds or even thousa ...

Elsevier Science Bv2014

Formalization, Implementation, and Modeling of Institutional Controllers for Distributed Robotic Systems

Alcherio Martinoli, José Nuno Ferreira Maia Pereira

The work described is part of a long term program of introducing institutional robotics, a novel framework for the coordination of robot teams that stems from institutional economics concepts. Under the framework, institutions are cumulative sets of persis ...

Mit Press2014

Utility-Based Mechanism for Structural Self-Organization in Service-Oriented MAS

Matteo Vasirani

Structural relations established among agents influence the performance of decentralized service discovery process in multiagent systems. Moreover, distributed systems should be able to adapt their structural relations to changes in environmental condition ...

Assoc Computing Machinery2014

Cooperative navigation in robotic swarms

Francesco Mondada, Michael Bonani, Stéphane Magnenat, Philippe Rétornaz

We study cooperative navigation for robotic swarms in the context of a general event-servicing scenario. In the scenario, one or more events need to be serviced at specific locations by robots with the required skills. We focus on the question of how the s ...

Springer Verlag2013

Evolution of division of labor in artificial societies

Pawel Lichocki

Natural and artificial societies often divide the workload between specialized members. For example, an ant worker may preferentially perform one of many tasks such as brood rearing, foraging and nest maintenance. A robot from a rescue team may specialize ...

EPFL2013

Learning search behaviour from humans

Aude Billard

A frequent method for taking into account the partially observable nature of an environment in which robots interact lies in formulating the problem domain as a Partially Observable Markov Decision Process (POMDP). By having humans demonstrate how to act i ...

2013

Bio-Inspired Decentralized Radio Access Based on Swarming Mechanisms Over Adaptive Networks

Ali H. Sayed

The goal of this paper is to study the learning abilities of adaptive networks in the context of cognitive radio networks and to investigate how well they assist in allocating power and communications resources in the frequency domain. The allocation mecha ...

Institute of Electrical and Electronics Engineers, Inc., 345 E. 47 th St. NY NY 10017-2394 United States2013

Soft control of swarms: Analytical approach

Max-Olivier Hongler, Guillaume Adrien Sartoretti

We analytically study the collective dynamics of mutually interacting heterogeneous agents evolving in a random environment. Our formal framework consists of a collection of JV scalar drifted Brownian motions (BM) diffusing on R. The mutual interactions ar ...

2013

Design, Modeling and Optimization of Stochastic Reactive Distributed Robotic Systems

Grégory Mermoud

This dissertation describes a complete methodological framework for designing, modeling and optimizing a specific class of distributed systems whose dynamics result from the multiple, stochastic interactions of their constitutive components. These componen ...

EPFL2012

Behavioral calibration and analysis of a large-scale travel microsimulation

Gunnar Flötteröd, Yu Chen

This article reports on the calibration and analysis of a fully disaggregate (agent-based) transport simulation for the metropolitan area of Zurich. The agent-based simulation goes beyond traditional transport models in that it equilibrates not only route ...

Springer US2012