Marco Dorigo's research while affiliated with Iridia - Institute De Recherches Interdisciplinaires Et De Développements En Intelligence Artificielle and other places

Publications (144)

Article
This paper addresses formation control of underactuated autonomous underwater vehicles in three-dimensional space, using a hybrid protocol that combines aspects of centralized and decentralized control with constraints that are particular to underwater vehicles, including switching topologies, unmeasurable velocities, and system constraints. Using...
Chapter
Most of our experiences, as well as our intuition, are usually built on a linear understanding of systems and processes. Complex systems in general, and more specifically swarm robotics in this context, leverage non-linear effects to self-organize and to ensure that ‘more is different’. In previous work, the non-linear and therefore counter-intuiti...
Chapter
We study how robot swarms can achieve a consensus on the best among a set of n possible options available in the environment. While the robots rely on local communication with one another, follow simple rules, and make estimates of the option’s qualities subject to measurement errors, the swarm as a whole is able to make accurate collective decisio...
Chapter
We present a novel control scheme for robot swarms that exploits the computation layer of a blockchain to coordinate the actions of individual robots in real-time. To accomplish this, we deploy a blockchain smart contract that acts as a “decentralized supervisor” during a swarm foraging task. Our results show that using blockchain-based global coor...
Article
Full-text available
In this study, we investigate the emergence of naming conventions within a swarm of robots that collectively forage, that is, collect resources from multiple sources in the environment. While foraging, the swarm explores the environment and makes a collective decision on how to exploit the available resources, either by selecting a single source or...
Article
Full-text available
Programming robot swarms is hard because system requirements are formulated at the swarm level (i.e., globally) while control rules need to be coded at the individual robot level (i.e., locally). Connecting global to local levels or vice versa through mathematical modeling to predict the system behavior is generally assumed to be the grand challeng...
Conference Paper
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Quadrotors are a versatile and popular category of Unmanned Aerial Vehicles (UAVs). They can take off and land vertically and perform sophisticated maneuvers, while still being relatively small in size with a simple structure and low maintenance costs. They are also easily accessible due to the availability of off-the-shelf components and open-sour...
Article
We present a rigorous, component‐based analysis of six widespread metaphor‐based algorithms for tackling continuous optimization problems. In addition to deconstructing the six algorithms into their components and relating them with equivalent components proposed in well‐established techniques, such as particle swarm optimization and evolutionary a...
Article
It has been more than 10 years since the first version of cuckoo search was proposed by Yang and Deb and published in the proceedings of the World Congress on Nature & Biologically Inspired Computing, in 2009. The two main articles on cuckoo search have now been cited almost 8 700 times (according to Google scholar), there are books and chapters pu...
Article
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Swarm intelligence studies self-organized collective behavior resulting from interactions between individuals, typically in animals and artificial agents. Some studies from cognitive science have also demonstrated self-organization mechanisms in humans, often in pairs. Further research into the topic of human swarm intelligence could provide a bett...
Article
Full-text available
The particle swarm optimization (PSO) algorithm has been the object of many studies and modifications for more than twentyfive years. Ranging from small refinements to the incorporation of sophisticated novel ideas, the majority of modifications proposed to this algorithm have been the result of a manual process in which developers try new designs...
Article
The importance of swarm robotics systems in both academic research and real-world applications is steadily increasing. However, to reach widespread adoption, new models that ensure the secure cooperation of large groups of robots need to be developed. This work introduces a method to encapsulate cooperative robotic missions in an authenticated data...
Article
Full-text available
Swarm robotics deals with the design, construction, and deployment of large groups of robots that coordinate and cooperatively solve a problem or perform a task. It takes inspiration from natural self-organizing systems, such as social insects, fish schools, or bird flocks, characterized by emergent collective behavior based on simple local interac...
Chapter
This paper demonstrates a swarm robotics construction system where the intelligence that coordinates construction has been moved from the robots to an advanced building material. This building material, that we call Stigmergic Blocks, is capable of computation and local communication. Using comprehensive simulation models based on real hardware, we...
Article
Ant colony optimization (ACO) algorithms have originally been designed for static optimization problems, where the input data is known in advance and is not subject to changes over time. Later, the long term memory of ACO proved effective for reoptimization over environment changes when extended to deal with dynamic combinatorial optimization probl...
Article
Swarm robotics will tackle real-world applications by leveraging automatic design, heterogeneity, and hierarchical self-organization.
Chapter
Full-text available
We present a robot swarm composed of Pi-puck robots that maintain a blockchain network. The blockchain serves as security layer to neutralize Byzantine robots (faulty, malfunctioning, or malicious robots). In the context of this work, we implemented a framework for high-throughput communication using a decentralized mobile ad-hoc network. This work...
Chapter
In this paper, we carry out a review of the grey wolf, the firefly and the bat algorithms. We identify the concepts involved in these three metaphor-based algorithms and compare them to those proposed in the context of particle swarm optimization. We provide compelling evidence that the grey wolf, the firefly, and the bat algorithms are not novel,...
Article
Full-text available
Consensus achievement is a crucial capability for robot swarms, for example, for path selection, spatial aggregation, or collective sensing. However, the presence of malfunctioning and malicious robots (Byzantine robots) can make it impossible to achieve consensus using classical consensus protocols. In this work, we show how a swarm of robots can...
Article
Full-text available
While direct local communication is very important for the organization of robot swarms, so far it has mostly been used for relatively simple tasks such as signaling robots preferences or states. Inspired by the emergence of meaning found in natural languages, more complex communication skills could allow robot swarms to tackle novel situations in...
Book
This book constitutes the proceedings of the 12th International Conference on Swarm Intelligence, ANTS 2020, held online -due to COVID-19- in Barcelona Spain, in October 2020. The 20 full papers presented , together with 8 short papers and 5 extended abstracts were carefully reviewed and selected from 50 submissions. ANTS 2020 contributions are dea...
Article
Full-text available
In this article, we rigorously analyze the intelligent water drops (IWD) algorithm, a metaphor-based approach for the approximate solution of discrete optimization problems proposed by Shah-Hosseini (in: Proceedings of the 2007 congress on evolutionary computation (CEC 2007), IEEE Press, Piscataway, NJ, pp 3226–3231, 2007). We demonstrate that all...
Preprint
Full-text available
We investigate the emergence of language convention within a swarm of robots foraging in an open environment from two identical resources. While foraging, the swarm needs to explore and decide which resource to exploit, moving through complex transitory dynamics towards different possible equilibria, such as, selection of a single resource or sprea...
Conference Paper
Full-text available
Modern cities are growing ecosystems that face new challenges due to the increasing population demands. One of the many problems they face nowadays is waste management, which has become a pressing issue requiring new solutions. Swarm robotics systems have been attracting an increasing amount of attention in the past years and they are expected to b...
Article
2019 IEEE. Modern cities are growing ecosystems that face new challenges due to the increasing population demands. One of the many problems they face nowadays is waste management, which has become a pressing issue requiring new solutions. Swarm robotics systems have been attracting an increasing amount of attention in the past years and they are ex...
Article
Full-text available
We describe a completely open source system for performing experiments in multi-robot construction in laboratory settings. The system consists of robots that are capable of assembling cubic blocks into structures, which can be up to three blocks in height. The building material contains microcontrollers and multi-color light-emitting diodes (LEDs)...
Article
Full-text available
Renewable resources like fish stock or forests should be exploited at a rate that supports regeneration and sustainability—a complex problem that requires adaptive approaches to maintain a sufficiently high exploitation while avoiding depletion. In the presence of oblivious agents that cannot keep track of all available resources—a frequent conditi...
Article
Self-assembling robots have the potential to undergo autonomous morphological adaptation. However, due to the simplicity in their hardware makeup and their limited perspective of the environment, self-assembling robots are often not able to reach their potential and adapt their morphologies to tasks or environments without external cues or prior in...
Article
Full-text available
We present an experimental study of the kinetics of orbitally-shaken, sliding macroscopic particles confined to a two-dimensional space bounded by walls. Discounting the forcing action of the external periodic actuation, the particles undergo a qualitative transition from a ballistic to a diffusive motion regime with time. Despite the deterministic...
Preprint
Full-text available
Modern cities are growing ecosystems that face new challenges due to the increasing population demands. One of the many problems they face nowadays is waste management, which has become a pressing issue requiring new solutions. Swarm robotics systems have been attracting an increasing amount of attention in the past years and they are expected to b...
Article
Full-text available
We present the Kilogrid, an open-source virtualization environment and data logging manager for the Kilobot robot, Kilobot for short. The Kilogrid has been designed to extend the sensory-motor abilities of the Kilobot, to simplify the task of collecting data during experiments, and to provide researchers with a tool to fine-control the experimental...
Chapter
The indirect communication and foraging behavior of certain species of ants have inspired a number of optimization algorithms for NP-hard problems. These algorithms are nowadays collectively known as the ant colony optimization (ACO) metaheuristic. This chapter gives an overview of the history of ACO, explains in detail its algorithmic components,...
Conference Paper
Full-text available
While swarm robotics systems are often claimed to be highly fault-tolerant, so far research has limited its attention to safe laboratory settings and has virtually ignored security issues in the presence of Byzantine robots-i.e., robots with arbitrarily faulty or malicious behavior. However, in many applications one or more Byzantine robots may suf...
Chapter
We study the reality-gap effect (the effect of the inherent discrepancy between simulation and reality) on the human psychophysiological state, workload and reaction time in the context of a human-swarm interaction scenario. In our experiments, 37 participants perform a supervision task (i.e., the participants have to respond to visual stimuli prod...
Article
Full-text available
Robots have the potential to display a higher degree of lifetime morphological adaptation than natural organisms. By adopting a modular approach, robots with different capabilities, shapes, and sizes could, in theory, construct and reconfigure themselves as required. However, current modular robots have only been able to display a limited range of...
Article
Full-text available
The original version of this Article contained an error in the author contributions section, whereby credit for design of the experiments was not attributed to N.M. This error has now been corrected in both the PDF and HTML versions of the Article.
Article
Full-text available
We investigate the parallel assembly of two-dimensional, geometrically-closed modular target structures out of homogeneous sets of macroscopic components of varying anisotropy. The yield predicted by a chemical reaction network (CRN)-based model is quantitatively shown to reproduce experimental results over a large set of conditions. Scaling laws f...
Chapter
The indirect communication and foraging behavior of certain species of ants have inspired a number of optimization algorithms for NP-hard problems. These algorithms are nowadays collectively known as the ant colony optimization (ACO) metaheuristic. This chapter gives an overview of the history of ACO, explains in detail its algorithmic components,...
Book
This book constitutes the proceedings of the 10th International Conference on Swarm Intelligence, ANTS 2016, held in Brussels, Belgium, in September 2016. The 18 full papers and 7 short papers presented in this volume were carefully reviewed and selected from 47 submissions. They are devoted to the field of swarm intelligence as a whole, without an...
Article
We study a self-organized collective decision-making strategy to solve a site-selection problem using a swarm of simple robots. Robots can only move forward or turn in place; sense the intensity of the ambient light; and exchange 3-byte messages with peers in a limited range. The goal of the swarm is to collectively decide which of the sites availa...
Book
This book constitutes the proceedings of the 9th International Conference on Swarm Intelligence, held in Brussels, Belgium, in September 2014. This volume contains 17 full papers, 9 short papers, and 7 extended abstracts carefully selected out of 55 submissions. The papers cover empirical and theoretical research in swarm intelligence such as: beha...