6 accepted papers
We consider the problem of sorting a swarm of labeled robots in Euclidean space. Our goal is to organize the robots into a sorted and equally-spaced straight line between the robots with lowest and highest labels, while maintaining a connected communication network. We break the symmetry between the
In this paper, we present deformable configuration control — a fully distributed algorithm that allows multiple robots to deform their configuration to avoid various shapes of obstacles while maintaining connectivity. Robots contacted with an obstacle first estimate the width of an obstacle by shari…
We consider the problem of organizing a scattered group of n robots in two-dimensional space. The communication graph of the swarm is connected, but there is no central authority for organizing it. We want to arrange them into a sorted and equally-spaced array between the robots with lowest and high…
This paper presents four distributed motion controllers to enable a group of robots to collectively transport an object towards a guide robot. These controllers include: rotation around a pivot robot, rotation in-place around an estimated centroid of the object, translation, and a combined motion of…
We present and analyze methods for patrolling and surveillance in an environment with a distributed swarm of robots with limited capabilities. Our approach is based on a distributed triangulation of the work space, in which a set of p stationary sensors provides coverage control; in addition, there…
We describe the National Museum of Mathematics's Robot Swarm exhibit and our approach for achieving a reliable system for collision avoidance. The Robot Swarm exhibit allows visitors to program behaviors and interact with a “swarm” of small robots. The exhibit supports extended unattended run times,…