Swarm robotic systems are mainly inspired by swarms of socials insects and the collective emergent behavior that arises from their cooperation at the lower lever. Despite the limited sensory ability, computational power, and communication means of each swarm member, the swarm as a group manages to achieve difficult tasks such as searching for food in terrains with obstacles that individual robo...

In recent years unmanned aerial vehicles (UAVs) have become smaller, cheaper, and more efficient, enabling the use of multiple autonomous drones where previously a single, human-operated drone would been used. This likely includes crisis response search rescue missions. These systems will need method navigating unknown dynamic environments. Typically, this require an incremental heuristic algor...

Swarm control is a problem of increasing importance with technological advancements. Recently, governments have begun employing UAVs for reconnaissance, including swarms of drones searching for evasive targets. An agent-based simulation for dynamic cooperative cleaning is augmented with additional behaviors and implemented into a Dynamic Data-Driven Application System (DDDAS) framework for dyna...

The hysteresis nonlinearity of magnetically controlled shape memory alloy actuator is an obstacle in the achievement of high positioning accuracy. To eliminate the influence of hysteresis nonlinearity, a PID hybrid control method which uses the inverse Prandtl-Ishlinskii model as a feedforward controller is proposed in this paper. The PID parameters are searched by particle swarm optimization w...

In this work we present the hardware architecture of a mobile heterogeneous robot swarm, designed and implemented at the Interdisciplinary Robotics, Intelligent Sensing and Control (RISC) Laboratory, University of Bridgeport. Most of the recent advances in swarm robotics have mainly focused on homogeneous robot swarms and their applications. Developing and coordinating a multi-agent robot syste...

The objective of this paper is to solve the dynamic plane coverage problem by the movement of multiple robots, for example, sprinkling water to a large field by several vehicles or aircrafts, in which all of the points in the field should be covered by the robots in an almost equal density. One of the ways to solve it is the swarm leading control method, in which one of the robots, called a tar...

A control system design based on coupled nonlinear oscillators (CNOs) for a selforganized swarm system is presented. In this scheme, agents self-organize to flock and arrange group formations through attractive and repulsive forces among themselves using CNOs. Virtual agents are also used to create richer group formation patterns. The objective of the swarm control in this paper is to follow a ...

Using many inexpensive rovers in place of single costly ones is an idea that has been gaining attention in the last decade. How to effectively control those rovers is an open question, but swarming is an attractive option to present. While much research in the field investigates intelligent swarming, recent research has shown that the unintelligent swarm is an effective control mechanism for th...

A new parameter estimation algorithm based on improved particle swarm optimizer is proposed to improve the precision and recall rate of conditional random fields model. Aggregation degree of particle swarm is utilized to control particle swarm optimizer’s early local convergence, the relative change ratio of log-likelihood between iterations is employed to end its iterations, and the inertia fa...

Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot swarms, most studies have been conducted in simulation, and the few that have been conducted on real robots have been confined to laboratory environments. I...