Decentralized Control and Interactive Design Methods for Large-Scale Heterogeneous Self-Organizing Swarms.
ABSTRACT We present new methods of decentralized control and interactive design for artificial swarms of a large number of agents that
can spontaneously organize and maintain non-trivial heterogeneous formations. Our model assumes no elaborate sensing, computation,
or communication capabilities for each agent; the self-organization is achieved solely by simple kinetic interactions among
agents. Specifications of the final formations are indirectly and implicitly woven into a list of different kinetic parameter
settings and their proportions, which would be hard to obtain with a conventional top-down design method but may be designed
heuristically through interactive design processes.
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ABSTRACT: In this paper, we discuss the self-assembling capabilities of the swarm-bot, a distributed robotics concept that lies at the intersection between collective and self-reconfigurable robotics. A swarm-bot is comprised of autonomous mobile robots called s-bots. S-bots can either act independently or self-assemble into a swarm-bot by using their grippers. We report on experiments in which we study the process that leads a group of s-bots to self-assemble. In particular, we present results of experiments in which we vary the number of s-bots (up to 16 physical robots), their starting configurations, and the properties of the terrain on which self-assembly takes place. In view of the very successful experimental results, swarm-bot qualifies as the current state of the art in autonomous self-assemblyIEEE Transactions on Robotics 01/2007; · 2.57 Impact Factor
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ABSTRACT: We present a physically realizable UAV model for locating and tracking chemical clouds. Simulation results are presented for implementations of this model with two configurations, one that is faster and requires more space to avoid collisions, and one that is slower and can cover an area more densely. Heterogeneous swarms of agents are shown to have better performance than homogeneous swarms of similar size because they take advantage of the strengths of each configuration.Swarm Intelligence Symposium, 2005. SIS 2005. Proceedings 2005 IEEE; 07/2005