Sabine Hauert — accepted AI-conference papers

2025

Express Yourself: Enabling Large-Scale Public Events Involving Multi-Human-Swarm Interaction for Social Applications with MOSAIX

Merihan Alhafnawi, Maca Gomez-Gutierrez, Edmund R. Hunt, Séverin Lemaignan, Paul J. O'Dowd, Sabine Hauert

ICRA 2025

Robot swarms have the potential to help groups of people with social tasks, given their ability to scale to large numbers of robots and users. Developing multi-human-swarm interaction is therefore crucial to support multiple people interacting with the swarm simultaneously - which is an area that is

Cited by 1 Source ↗Scholar ↗

2023

TacMMs: Tactile Mobile Manipulators for Warehouse Automation

Zhuochao He, Xuyang Zhang, Simon Jones, Sabine Hauert, Dandan Zhang, Nathan F. Lepora

RA-L 2023

Multi-robot platforms are playing an increasingly important role in warehouse automation for efficient goods transport. This paper proposes a novel customization of a multi-robot system, called Tactile Mobile Manipulators (TacMMs). Each TacMM integrates a soft optical tactile sensor and a mobile rob

Cited by 19 Source ↗Scholar ↗

2022

A Data-Driven Method for Metric Extraction to Detect Faults in Robot Swarms

Suet Lee, Emma Milner, Sabine Hauert

RA-L 2022

Robot swarms are increasingly deployed in real-world applications. Making swarms safe will be critical to improve adoption and trust. Fault detection is a useful component in systems which require a level of safety: a key element of which are metrics that allow us to differentiate between faulty and

Cited by 14 Source ↗Scholar ↗

2022

Deliberative Democracy with Robot Swarms

Merihan Alhafnawi, Edmund R. Hunt, Severin Lemaignan, Paul O'Dowd, Sabine Hauert

IROS 2022poster

Decision-making among groups of humans can benefit from open discussion and inclusion of a diversity of opinions, promoting deliberative democracy. In this work, we test whether a swarm of robots can help facilitate decision-making by visually representing the diversity of opinions. We used a swarm…

Cited by 4 Source ↗Scholar ↗

2022

MOSAIX: a Swarm of Robot Tiles for Social Human-Swarm Interaction

Merihan Alhafnawi, Edmund R. Hunt, Severin Lemaignan, Paul O'Dowd, Sabine Hauert

ICRA 2022poster

MOSAIX is a new robot swarm platform built to be used in social settings. Consisting of up to 100 individual robot Tiles, MOSAIX is a social swarm system, aimed at helping humans in social tasks such as opinion-mixing and brainstorming. MOSAIX also has the potential to be used as a platform to study…

Cited by 14 Source ↗Scholar ↗

2021

Self-Organised Saliency Detection and Representation in Robot Swarms

Merihan Alhafnawi, Sabine Hauert, Paul J. O'Dowd

RA-L 2021

Self-assembly of shapes using robot swarms has applications spanning architecture, functional materials, and art. Typically, the amount of robotic material needed to represent the shape is relative to the shape's area, with robots filling in the whole shape. To save in robotic material, we explore t

Cited by 13 Source ↗Scholar ↗

2019

Toward Controllable Morphogenesis in Large Robot Swarms

Daniel Carrillo-Zapata, James Sharpe, Alan Frank Thomas Winfield, Luca Giuggioli, Sabine Hauert

RA-L 2019

Morphogenetic engineering aims to achieve functional, self-organized but controllable structures in human-designed systems. Controlling the structures is crucial if they are to be used for real-world applications. Building on previous work on morphogenesis, in this letter, we present a new algorithm

Cited by 13 Source ↗Scholar ↗

2017

Robust distributed decision-making in robot swarms: Exploiting a third truth state

Michael Crosscombe, Jonathan Lawry, Sabine Hauert, Martin Homer

IROS 2017poster

In this paper, we investigate the best-of-n distributed decision problem in robot swarms. In this context, we compare the weighted voter model [25] with a three-valued model that incorporates an intermediate belief state meaning either `uncertain' or `indifferent'. We focus particularly on the trade…

Cited by 30 Source ↗Scholar ↗