This paper deals with multi-objective optimization in gait planning of a 7-dof biped robot ascending and descending some staircases. Both its power consumption as well as dynamic balance margin depends on a few common design parameters. The biped robot should have a maximum dynamic balance margin but at the expense of minimum power. Thus, a conflicting relationship exists between these two obje...

Aggregation is a crucial task in swarm robotics to ensure cooperation. We investigate the task of aggregation on an area specified indirectly by certain environmental features, here it is a light distribution. We extend the original BEECLUST algorithm, that implements an aggregation behavior, to an adaptive variant that automatically adapts to any light conditions. We compare these two control ...

Mobile robot navigation is to find an optimal path to guide the movement of the robot, so path planning is guaranteed to find a feasible optimal path. However, the path planning problem must be solve two problems, i.e., the path must be kept away from obstacles or avoid the collision with obstacles and the length of path should be minimized. In this paper, a path planning algorithm based on ran...

Bio-inspired aggregation is one of the most fundamental behaviours that has been studied in swarm robotic for more than two decades. Biology revealed that the environmental characteristics are very important factors in aggregation of social insects and other animals. In this paper, we study the effects of different environmental factors such as size and texture of aggregation cues using real ro...

We introduce a new type of movement constraints for a swarm of robots in a grid environment. This type is inspired by Alex Randolphs board game Ricochet Robot and may be used to model robots with very limited abilities for self localization: We assume that once a robot starts to drive in a certain direction, it does not stop its movement until it hits an obstacle wall or another robot. We show ...

This paper proposes a novel method to improve the efficiency of a swarm of robots searching in an unknown environment. The approach focuses on the process of feeding and individual coordination characteristics inspired by the foraging behavior in nature. A predatory strategy was used for searching; hence, this hybrid approach integrated a random search technique with a dynamic particle swarm op...

We consider a swarm of robots equipped with an infrared range and bearing device (Ir-RB) that is able both to make estimates of the relative distance and angle between two robots in line-of-sight (LoS) and to transfer data between them. Through the Ir-RB, the robots create a LoS mobile ad hoc network (LoS MANET). We investigate different ways to implement a swarm-level distributed navigation fu...

---------------------------------------------------------------------***--------------------------------------------------------------------Abstract SWARM robotics or multi robot systems is a novel approach to the coordination of large numbers of relatively simple robots which takes its inspiration from social insects ants, termites, wasps and bees etc. Robot mapping or trajectory plotting is t...

In this paper we study the time delays affecting the diffusion of information in an underwater heterogeneous robot swarm in a time-sensitive environment. In many situations each member of the swarm must update its knowledge about the environment as soon as possible, thus every effort to expand the time horizon is useful. Otherwise critical information may not reach nodes far from the source cau...

The foraging task is one of the canonical testbeds for cooperative robotics, in which a collection of coordinated robots have to find and transport one or more objects to one or more specific storage points. Swarm robotics has been widely considered in such situations, due to its strengths such as robustness, simplicity and scalability. Typical multi-robot foraging systems currently consider te...