This paper presents a novel procedure for computing parameters of a robotic swarm that guarantee coverage performance by the swarm within a specified error from a target spatial distribution. The main contribution of this paper is the analysis of the dependence of this error on two key parameters: the number of robots in the swarm and the robot sensing radius. The robots cannot localize or comm...

Swarm robotic systems are currently being used to address many real-world problems. One interesting application of swarm robotics is the self-organized formation of structures and shapes. Some of the key challenges in the swarm robotic systems include swarm size constraint, random motion, coordination among robots, localization, and adaptability in a decentralized environment. Rubenstein et al....

The area of collective and cooperative behaviour in swarm robots is an exciting field of study. Recent technological and economic developments have made it possible to build medium to large scale swarms of quite sophisticated mobile robots. We review recent mobile computing technologies and describe our architecture for a swarm of tri-wheeled robots that can exchange information via wireless ar...

Human interaction with robot swarms (HSI) is a young field with very few user studies that explore operator behavior. All these studies assume perfect communication between the operator and the swarm. A key challenge in the use of swarm robotic systems in human supervised tasks is to understand human swarm interaction in the presence of limited communication bandwidth, which is a constraint ari...

Human-swarm interaction is an emerging field encompassing questions related to biology, robotics, computer science, human-computer interaction, and psychology. Swarms are large groups of individual entities that enact group behaviors; biological examples include fish, birds and insects. Swarms overwhelm humans’ abilities to monitor and interact with each entity. Human-robot and human-computer i...

Received Aug 11, 2013 Revised Feb 20, 2014 Accepted Mar 10, 2014 A based on Rapidly-exploring Random Tree (RRT) and Particle Swarm Optimizer (PSO) for path planning of the robot is proposed. First the grid method is built to describe the working space of the mobile robot, then the Rapidly-exploring Random Tree algorithm is used to obtain the global navigation path, and the Particle Swarm Optimi...

A decentralized control strategy for a robot swarm is presented, where each robot try to form a regular tetrahedron with its three neighbors. The proposed method is based on virtual spring and demands minimum local information. Four neighboring robots can form a regular tetrahedron formation regardless of their initial positions. A neighbor selection procedure is used to extend the strategy In ...

This paper describes the application of Particle Swarm Optimization (PSO) for gait optimization on a humanoid robot. The biped gait is modeled by a number of parameterizable trajectories. To achieve omni-directional walking, different sets of gait parameters are optimized for specific walk directions and interpolated later. By using a fitness test based on an acceleration walk, the optimized se...

Task allocation is a key problem, which has a direct influence on the system performance in all kinds of distributed systems. This paper focuses on a specific kind of task allocation in swarm robotic systems, where the tasks are associated with specific time constraints. The paper presents a self-organized task allocation strategy, which aims to assign robot swarms to time-constrained tasks in ...