Search

Your search keyword '"Dorigo, Marco"' showing total 2,533 results
Start Over Author "Dorigo, Marco"

Refine your results

more »

more »

more »

more »
2,533 results on '"Dorigo, Marco"'

1. Securing Federated Learning in Robot Swarms using Blockchain Technology

Author

Pacheco, Alexandre, De Vos, Sébastien, Reina, Andreagiovanni, Dorigo, Marco, and Strobel, Volker

Subjects
Computer Science - Robotics
Abstract

Federated learning is a new approach to distributed machine learning that offers potential advantages such as reducing communication requirements and distributing the costs of training algorithms. Therefore, it could hold great promise in swarm robotics applications. However, federated learning usually requires a centralized server for the aggregation of the models. In this paper, we present a proof-of-concept implementation of federated learning in a robot swarm that does not compromise decentralization. To do so, we use blockchain technology to enable our robot swarm to securely synchronize a shared model that is the aggregation of the individual models without relying on a central server. We then show that introducing a single malfunctioning robot can, however, heavily disrupt the training process. To prevent such situations, we devise protection mechanisms that are implemented through secure and tamper-proof blockchain smart contracts. Our experiments are conducted in ARGoS, a physics-based simulator for swarm robotics, using the Ethereum blockchain protocol which is executed by each simulated robot., Comment: To be published in the Proceedings of the 17th International Symposium on Distributed Autonomous Robotic Systems (DARS 2024)

Published
2024

2. Centralization vs. decentralization in multi-robot coverage: Ground robots under UAV supervision

Author

Jamshidpey, Aryo, Wahby, Mostafa, Heinrich, Mary Katherine, Allwright, Michael, Zhu, Weixu, and Dorigo, Marco

Subjects
Computer Science - Robotics
Abstract

In swarm robotics, decentralized control is often proposed as a more scalable and fault-tolerant alternative to centralized control. However, centralized behaviors are often faster and more efficient than their decentralized counterparts. In any given application, the goals and constraints of the task being solved should guide the choice to use centralized control, decentralized control, or a combination of the two. Currently, the tradeoffs that exist between centralization and decentralization have not been thoroughly studied. In this paper, we investigate these tradeoffs for multi-robot coverage, and find that they are more nuanced than expected. For instance, our findings reinforce the expectation that more decentralized control will provide better scalability, but contradict the expectation that more decentralized control will perform better in environments with randomized obstacles. Beginning with a group of fully independent ground robots executing coverage, we add unmanned aerial vehicles as supervisors and progressively increase the degree to which the supervisors use centralized control, in terms of access to global information and a central coordinating entity. We compare, using the multi-robot physics-based simulation environment ARGoS, the following four control approaches: decentralized control, hybrid control, centralized control, and predetermined control. In comparing the ground robots performing the coverage task, we assess the speed and efficiency advantages of centralization -- in terms of coverage completeness and coverage uniformity -- and we assess the scalability and fault tolerance advantages of decentralization. We also assess the energy expenditure disadvantages of centralization due to different energy consumption rates of ground robots and unmanned aerial vehicles, according to the specifications of robots available off-the-shelf., Comment: IRIDIA, Universite Libre de Bruxelles, Brussels, Belgium, 2021

Published
2024

3. Toychain: A Simple Blockchain for Research in Swarm Robotics

Author

Pacheco, Alexandre, Denis, Ulysse, Zakir, Raina, Strobel, Volker, Reina, Andreagiovanni, and Dorigo, Marco

Subjects
Computer Science - Robotics
Abstract

This technical report describes the implementation of Toychain: a simple, lightweight blockchain implemented in Python, designed for ease of deployment and practicality in robotics research. It can be integrated with various software and simulation tools used in robotics (we have integrated it with ARGoS, Gazebo, and ROS2), and also be deployed on real robots capable of Wi-Fi communications. The Toychain package supports the deployment of smart contracts written in Python (computer programs that can be executed by and synchronized across a distributed network). The nodes in the blockchain can execute smart contract functions by broadcasting transactions, which update the state of the blockchain upon agreement by all other nodes. The conditions for this agreement are established by a consensus protocol. The Toychain package allows for custom implementations of the consensus protocol, which can be useful for research or meeting specific application requirements. Currently, Proof-of-Work and Proof-of-Authority are implemented.

Published
2024

4. Ants 2022 special issue: Editorial

Author

Dorigo, Marco, Hamann, Heiko, López-Ibáñez, Manuel, García-Nieto, José, Engelbrecht, Andries, Pinciroli, Carlo, Strobel, Volker, and Camacho-Villalón, Christian

Published
2024
Full Text
View/download PDF

5. Byzantine Fault Detection in Swarm-SLAM Using Blockchain and Geometric Constraints

Author

Moroncelli, Angelo, Pacheco, Alexandre, Strobel, Volker, Lajoie, Pierre-Yves, Dorigo, Marco, Reina, Andreagiovanni, Goos, Gerhard, Series Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Hamann, Heiko, editor, Dorigo, Marco, editor, Pérez Cáceres, Leslie, editor, Reina, Andreagiovanni, editor, Kuckling, Jonas, editor, Kaiser, Tanja Katharina, editor, Soorati, Mohammad, editor, Hasselmann, Ken, editor, and Buss, Eduard, editor

Published
2024
Full Text
View/download PDF

6. Heterogeneity Can Enhance the Adaptivity of Robot Swarms to Dynamic Environments

Author

Zakir, Raina, Salahshour, Mohammad, Dorigo, Marco, Reina, Andreagiovanni, Goos, Gerhard, Series Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Hamann, Heiko, editor, Dorigo, Marco, editor, Pérez Cáceres, Leslie, editor, Reina, Andreagiovanni, editor, Kuckling, Jonas, editor, Kaiser, Tanja Katharina, editor, Soorati, Mohammad, editor, Hasselmann, Ken, editor, and Buss, Eduard, editor

Published
2024
Full Text
View/download PDF

7. Group-Level Behavioral Switch in a Robot Swarm Using Blockchain

Author

Gupta, Himank, Strobel, Volker, Pacheco, Alexandre, Ferrante, Eliseo, Natalizio, Enrico, Dorigo, Marco, Goos, Gerhard, Series Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Hamann, Heiko, editor, Dorigo, Marco, editor, Pérez Cáceres, Leslie, editor, Reina, Andreagiovanni, editor, Kuckling, Jonas, editor, Kaiser, Tanja Katharina, editor, Soorati, Mohammad, editor, Hasselmann, Ken, editor, and Buss, Eduard, editor

Published
2024
Full Text
View/download PDF

11. The Hidden Benefits of Limited Communication and Slow Sensing in Collective Monitoring of Dynamic Environments

Author

Aust, Till, Talamali, Mohamed S., Dorigo, Marco, Hamann, Heiko, Reina, Andreagiovanni, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Dorigo, Marco, editor, Hamann, Heiko, editor, López-Ibáñez, Manuel, editor, García-Nieto, José, editor, Engelbrecht, Andries, editor, Pinciroli, Carlo, editor, Strobel, Volker, editor, and Camacho-Villalón, Christian, editor

Published
2022
Full Text
View/download PDF

12. Robot Swarms Break Decision Deadlocks in Collective Perception Through Cross-Inhibition

Author

Zakir, Raina, Dorigo, Marco, Reina, Andreagiovanni, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Dorigo, Marco, editor, Hamann, Heiko, editor, López-Ibáñez, Manuel, editor, García-Nieto, José, editor, Engelbrecht, Andries, editor, Pinciroli, Carlo, editor, Strobel, Volker, editor, and Camacho-Villalón, Christian, editor

Published
2022
Full Text
View/download PDF

13. Real-Time Coordination of a Foraging Robot Swarm Using Blockchain Smart Contracts

Author

Pacheco, Alexandre, Strobel, Volker, Reina, Andreagiovanni, Dorigo, Marco, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Dorigo, Marco, editor, Hamann, Heiko, editor, López-Ibáñez, Manuel, editor, García-Nieto, José, editor, Engelbrecht, Andries, editor, Pinciroli, Carlo, editor, Strobel, Volker, editor, and Camacho-Villalón, Christian, editor

Published
2022
Full Text
View/download PDF

14. Emergent naming conventions in a foraging robot swarm

Author

Miletitch, Roman, Reina, Andreagiovanni, Dorigo, Marco, and Trianni, Vito

Subjects
Computer Science - Robotics, Computer Science - Multiagent Systems
Abstract

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 concurrently exploiting more than one. At the same time, the robots locally exchange messages in order to agree on how to name each source. Here, we study the correlation between the task-induced interaction network and the emergent naming conventions. In particular, our goal is to determine whether the dynamics of the interaction network are sufficient to determine an emergent vocabulary that is potentially useful to the robot swarm. To be useful, linguistic conventions need to be compact and meaningful, that is, to be the minimal description of the relevant features of the environment and of the made collective decision. We show that, in order to obtain a useful vocabulary, the task-dependent interaction network alone is not sufficient but it must be combined with a correlation between language and foraging dynamics. On the basis of these results, we propose a decentralised algorithm for collective categorisation which enables the swarm to achieve a useful -- compact and meaningful -- naming of all the available sources. Understanding how useful linguistic conventions emerge contributes to the design of robot swarms with potentially improved autonomy, flexibility, and self-awareness.

Published
2019

15. Secure and secret cooperation in robotic swarms

Author

Ferrer, Eduardo Castelló, Hardjono, Thomas, Pentland, Alex 'Sandy', and Dorigo, Marco

Subjects
Computer Science - Robotics, Computer Science - Cryptography and Security, Computer Science - Data Structures and Algorithms, Computer Science - Emerging Technologies, Computer Science - Multiagent Systems
Abstract

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 novel method to encapsulate cooperative robotic missions in an authenticated data structure known as Merkle tree. With this method, operators can provide the "blueprint" of the swarm's mission without disclosing its raw data. In other words, data verification can be separated from data itself. We propose a system where robots in a swarm, to cooperate towards mission completion, have to "prove" their integrity to their peers by exchanging cryptographic proofs. We show the implications of this approach for two different swarm robotics missions: foraging and maze formation. In both missions, swarm robots were able to cooperate and carry out sequential operations without having explicit knowledge about the mission's high-level objectives. The results presented in this work demonstrate the feasibility of using Merkle trees as a cooperation mechanism for swarm robotics systems in both simulation and real-robot experiments, which has implications for future decentralized robotics applications where security plays a crucial role such as environmental monitoring, infrastructure surveillance, and disaster management., Comment: 32 pages, 6 figures, submitted to Science Robotics

Published
2019

18. Urban Swarms: A new approach for autonomous waste management

Author

Alfeo, Antonio Luca, Ferrer, Eduardo Castelló, Carrillo, Yago Lizarribar, Grignard, Arnaud, Pastor, Luis Alonso, Sleeper, Dylan T., Cimino, Mario G. C. A., Lepri, Bruno, Vaglini, Gigliola, Larson, Kent, Dorigo, Marco, and Pentland, Alex `Sandy'

Subjects
Computer Science - Robotics, Computer Science - Multiagent Systems
Abstract

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 become one of the main driving factors for innovation in the field of robotics. The research presented in this paper explores the feasibility of a swarm robotics system in an urban environment. By using bio-inspired foraging methods such as multi-place foraging and stigmergy-based navigation, a swarm of robots is able to improve the efficiency and autonomy of the urban waste management system in a realistic scenario. To achieve this, a diverse set of simulation experiments was conducted using real-world GIS data and implementing different garbage collection scenarios driven by robot swarms. Results presented in this research show that the proposed system outperforms current approaches. Moreover, results not only show the efficiency of our solution, but also give insights about how to design and customize these systems., Comment: Manuscript accepted for publication in IEEE ICRA 2019

Published
2018
Full Text
View/download PDF

19. Formation Control of UAVs and Mobile Robots Using Self-organized Communication Topologies

Author

Zhu, Weixu, Allwright, Michael, Heinrich, Mary Katherine, Oğuz, Sinan, Christensen, Anders Lyhne, Dorigo, Marco, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Dorigo, Marco, editor, Stützle, Thomas, editor, Blesa, Maria J., editor, Blum, Christian, editor, Hamann, Heiko, editor, Heinrich, Mary Katherine, editor, and Strobel, Volker, editor

Published
2020
Full Text
View/download PDF

20. Construction Task Allocation Through the Collective Perception of a Dynamic Environment

Author

Khaluf, Yara, Allwright, Michael, Rausch, Ilja, Simoens, Pieter, Dorigo, Marco, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Dorigo, Marco, editor, Stützle, Thomas, editor, Blesa, Maria J., editor, Blum, Christian, editor, Hamann, Heiko, editor, Heinrich, Mary Katherine, editor, and Strobel, Volker, editor

Published
2020
Full Text
View/download PDF

21. A Blockchain-Controlled Physical Robot Swarm Communicating via an Ad-Hoc Network

Author

Pacheco, Alexandre, Strobel, Volker, Dorigo, Marco, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Dorigo, Marco, editor, Stützle, Thomas, editor, Blesa, Maria J., editor, Blum, Christian, editor, Hamann, Heiko, editor, Heinrich, Mary Katherine, editor, and Strobel, Volker, editor

Published
2020
Full Text
View/download PDF

22. Multi-robot Coverage Using Self-organized Networks for Central Coordination

Author

Jamshidpey, Aryo, Zhu, Weixu, Wahby, Mostafa, Allwright, Michael, Heinrich, Mary Katherine, Dorigo, Marco, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Dorigo, Marco, editor, Stützle, Thomas, editor, Blesa, Maria J., editor, Blum, Christian, editor, Hamann, Heiko, editor, Heinrich, Mary Katherine, editor, and Strobel, Volker, editor

Published
2020
Full Text
View/download PDF

23. HuGoS: A Multi-user Virtual Environment for Studying Human–Human Swarm Intelligence

Author

Coucke, Nicolas, Heinrich, Mary Katherine, Cleeremans, Axel, Dorigo, Marco, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Dorigo, Marco, editor, Stützle, Thomas, editor, Blesa, Maria J., editor, Blum, Christian, editor, Hamann, Heiko, editor, Heinrich, Mary Katherine, editor, and Strobel, Volker, editor

Published
2020
Full Text
View/download PDF

24. Grey Wolf, Firefly and Bat Algorithms: Three Widespread Algorithms that Do Not Contain Any Novelty

Author

Camacho Villalón, Christian Leonardo, Stützle, Thomas, Dorigo, Marco, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Dorigo, Marco, editor, Stützle, Thomas, editor, Blesa, Maria J., editor, Blum, Christian, editor, Hamann, Heiko, editor, Heinrich, Mary Katherine, editor, and Strobel, Volker, editor

Published
2020
Full Text
View/download PDF

27. Swarm Robotics

Author

Heinrich, Mary Katherine, primary, Wahby, Mostafa, additional, Dorigo, Marco, additional, and Hamann, Heiko, additional

Published
2022
Full Text
View/download PDF

28. Kinetics of 2D-constrained orbitally-shaken particles

Author

Ipparthi, Dhananjay, Hageman, Tijmen A. G., Cambier, Nicolas, Sitti, Metin, Dorigo, Marco, Abelmann, Leon, and Mastrangeli, Massimo

Subjects
Condensed Matter - Soft Condensed Matter, Physics - Applied Physics
Abstract

We present an experimental study of the kinetics of orbitally-shaken macroscopic particles confined to a two-dimensional bounded domain. Discounting the forcing action of the external periodic actuation, the particles show translational velocities and diffusivity consistent with a confined random walk model. Such experimental system may therefore represent a suitable macroscopic analog to investigate aspects of molecular dynamics and self-assembly., Comment: Accepted to be published in Physical Review - E

Published
2017
Full Text
View/download PDF

29. Swarm Construction Coordinated Through the Building Material

Author

Zheng, Yating, Allwright, Michael, Zhu, Weixu, Kassawat, Majd, Han, Zhangang, Dorigo, Marco, Filipe, Joaquim, Editorial Board Member, Ghosh, Ashish, Editorial Board Member, Prates, Raquel Oliveira, Editorial Board Member, Zhou, Lizhu, Editorial Board Member, Baratchi, Mitra, editor, Cao, Lu, editor, Kosters, Walter A., editor, Lijffijt, Jefrey, editor, van Rijn, Jan N., editor, and Takes, Frank W., editor

Published
2021
Full Text
View/download PDF

32. On different communication modalities between foraging robot swarms

Author

Dorigo, Marco, Trianni, Vito, Bersini, Hugues, Birattari, Mauro, Ferrante, Eliseo, Khaluf, Yara, Miletitch, Roman, Dorigo, Marco, Trianni, Vito, Bersini, Hugues, Birattari, Mauro, Ferrante, Eliseo, Khaluf, Yara, and Miletitch, Roman

Abstract

Coordination in a group relies heavily on the type and quality of interactions and communication among individuals. In swarm robotics, communication can make the difference between a heap of isolated robots working independently of each other, and a connected swarm displaying self-organisation. Communication between robots in a swarm can be indirect, for instance through stigmergy whereby robots exploit the sign of previous actions to coordinate, or direct, by means of messages exchanged among robots for the purpose of influencing each other's behaviour. In the latter case, messages can consist either of simple signals, or more structured information, possibly encoding some concept representing features of the environment or of the desired coordination outcome. More complex communication can support more complex self-organising behaviors, deeply impacting on how the swarm tackles the task at hand. In this work, we consider different ways of exploiting communication in the context of a foraging task, in which robots search an open environment for resources to be exploited. Foraging requires abilities such as navigation, exploration and collective decision making. Coordination within a foraging context can lead to higher efficiency in exploiting resources, both in the short or in the long run, by avoiding over-exploitation. Throughout my thesis, foraging is used as a means to study the coupling between different communication processes and the undertaking of a meaningful task by the robots. Specifically, we study three different uses of communication during foraging. Firstly, we focus on simple aggregation of information, and study three parameter-free information processing mechanisms. These result in varying behavior, from the selection of a single resource by the whole swarm to the robots splitting among the resources present. This study is supported by an extensive analysis of navigation and congestion, helping to explain how swarm density can affect the perceived, Doctorat en Sciences de l'ingénieur et technologie, info:eu-repo/semantics/nonPublished

Published
2024

33. Embodied Collective Decision Making

Author

Cleeremans, Axel, Dorigo, Marco, Klein, Olivier, De Heering, Adélaïde, Heinrich, Mary Katherine, Timmermans, Bert, Reina, Andreagiovanni, Coucke, Nicolas, Cleeremans, Axel, Dorigo, Marco, Klein, Olivier, De Heering, Adélaïde, Heinrich, Mary Katherine, Timmermans, Bert, Reina, Andreagiovanni, and Coucke, Nicolas

Abstract

It’s difficult not to be amazed by the intricate process through which a honeybee swarm selects anew nest site. By exploring different options and sharing information with one another, the beescan collectively choose a single site. A key feature of these collective decisions is that they arenot directed by a centralized planner, but instead arise entirely from the interactions of individualswith each other and their environment. Inspired by such natural phenomena, roboticists are nowimplementing similar strategies in robot swarms to enhance collective decision-makingAs a social species, humans also frequently make collective decisions. Many important decisionsfor our societies are not made by a single individual but emerge from extensive verbal discussionsbetween multiple individuals. This dissertation aims to build a conceptual and experimentalbridge linking the study of human collective decision making with the more embodied collectivedecision making of animal and robotic swarms, which mostly take place through movements inphysical space. To do so, we place human participants in the type of embodied decision makingscenarios that swarms usually operate in.We created a virtual environment in which large groups of human participants can interact withone another and perform various tasks that are commonly studied in swarm robotics research. Intwo behavioral experiments, we used this virtual environment to study human behavior duringcollective decision making. In the first experiment, we studied how participants can form acollective perception of their environment by each exploring some part of the environment andthen sharing that information. In a subsequent experiment, we study how a group of participantscan select the best site in their environment while only using movement-based communication.The third study presented in this thesis reports on how human participants can implicitly signaltheir confidence in their movements during decision making in a shared physical, Doctorat en Sciences psychologiques et de l'éducation, info:eu-repo/semantics/nonPublished

Published
2024

34. An Open-Source UAV Platform for Swarm Robotics Research: Using Cooperative Sensor Fusion for Inter-Robot Tracking

Author

Oguz, Sinan, Heinrich, Mary Katherine, Allwright, Michael, Zhu, Weixu, Wahby, Mostafa, Garone, Emanuele, Dorigo, Marco, Oguz, Sinan, Heinrich, Mary Katherine, Allwright, Michael, Zhu, Weixu, Wahby, Mostafa, Garone, Emanuele, and Dorigo, Marco

Abstract

In this work, we present an open-source unmanned aerial vehicle (UAV) platform for research in swarm robotics. In swarm robotics, groups of robots collaborate using local interactions and collectively solve tasks beyond an individual robot's capabilities. Individual robots must have onboard processing, communication, and sensing capabilities to autonomously react to their neighbors and immediate environment. Most research involving UAVs in swarm robotics presents only simulation results, while key landmark studies with real UAV swarms have used UAV platforms that were custom-built for the respective study. One important reason for this is that no commercial UAV platform comes pre-equipped with the ability to identify and track the positions and poses of nearby drones using only onboard sensors and computation, and in research platforms, the relevant sensing technologies are currently under development. Our aim is to provide a platform that allows swarm robotics researchers to test their algorithms on real UAVs, without having to develop their own custom-built UAVs or to wait until more advanced sensing technology is ready off-the-shelf. We provide a well-documented, entirely open-source UAV platform - S-drone (Swarm-drone) - to foster and support UAV swarm research in a laboratory environment. The S-drone uses fiducial markers in the environment and cooperative feature-level sensor fusion for inter-robot tracking to track the presence, identity, relative 2D position, and relative 2D orientation of neighboring peers. The S-drone is suitable for a wide range of contexts, supports quad-camera vision-based navigation and a variety of onboard sensing, and is extensible. It is especially suited for swarm robotics research because it can operate using strictly onboard processing and sensing without the need for global positioning systems, motion capture systems, or ground stations for off-board sensing., SCOPUS: ar.j, info:eu-repo/semantics/published

Published
2024

36. Virtual Nervous Systems for Self-Assembling Robots - A preliminary report

Author

Mathews, Nithin, Christensen, Anders Lyhne, O'Grady, Rehan, and Dorigo, Marco

Subjects
Computer Science - Robotics
Abstract

We define the nervous system of a robot as the processing unit responsible for controlling the robot body, together with the links between the processing unit and the sensorimotor hardware of the robot - i.e., the equivalent of the central nervous system in biological organisms. We present autonomous robots that can merge their nervous systems when they physically connect to each other, creating a "virtual nervous system" (VNS). We show that robots with a VNS have capabilities beyond those found in any existing robotic system or biological organism: they can merge into larger bodies with a single brain (i.e., processing unit), split into separate bodies with independent brains, and temporarily acquire sensing and actuating capabilities of specialized peer robots. VNS-based robots can also self-heal by removing or replacing malfunctioning body parts, including the brain.

Published
2015

37. Hybrid Control of Swarms for Resource Selection

Author

Trabattoni, Marco, Valentini, Gabriele, Dorigo, Marco, Hutchison, David, Series Editor, Kanade, Takeo, Series Editor, Kittler, Josef, Series Editor, Kleinberg, Jon M., Series Editor, Mattern, Friedemann, Series Editor, Mitchell, John C., Series Editor, Naor, Moni, Series Editor, Pandu Rangan, C., Series Editor, Steffen, Bernhard, Series Editor, Terzopoulos, Demetri, Series Editor, Tygar, Doug, Series Editor, Weikum, Gerhard, Series Editor, Dorigo, Marco, editor, Birattari, Mauro, editor, Blum, Christian, editor, Christensen, Anders L., editor, Reina, Andreagiovanni, editor, and Trianni, Vito, editor

Published
2018
Full Text
View/download PDF

38. Why the Intelligent Water Drops Cannot Be Considered as a Novel Algorithm

Author

Camacho-Villalón, Christian Leonardo, Dorigo, Marco, Stützle, Thomas, Hutchison, David, Series Editor, Kanade, Takeo, Series Editor, Kittler, Josef, Series Editor, Kleinberg, Jon M., Series Editor, Mattern, Friedemann, Series Editor, Mitchell, John C., Series Editor, Naor, Moni, Series Editor, Pandu Rangan, C., Series Editor, Steffen, Bernhard, Series Editor, Terzopoulos, Demetri, Series Editor, Tygar, Doug, Series Editor, Weikum, Gerhard, Series Editor, Dorigo, Marco, editor, Birattari, Mauro, editor, Blum, Christian, editor, Christensen, Anders L., editor, Reina, Andreagiovanni, editor, and Trianni, Vito, editor

Published
2018
Full Text
View/download PDF

39. Simulating Multi-robot Construction in ARGoS

Author

Allwright, Michael, Bhalla, Navneet, Pinciroli, Carlo, Dorigo, Marco, Hutchison, David, Series Editor, Kanade, Takeo, Series Editor, Kittler, Josef, Series Editor, Kleinberg, Jon M., Series Editor, Mattern, Friedemann, Series Editor, Mitchell, John C., Series Editor, Naor, Moni, Series Editor, Pandu Rangan, C., Series Editor, Steffen, Bernhard, Series Editor, Terzopoulos, Demetri, Series Editor, Tygar, Doug, Series Editor, Weikum, Gerhard, Series Editor, Dorigo, Marco, editor, Birattari, Mauro, editor, Blum, Christian, editor, Christensen, Anders L., editor, Reina, Andreagiovanni, editor, and Trianni, Vito, editor

Published
2018
Full Text
View/download PDF

44. Elasticity-driven collective motion in active solids and active crystals

Author

Ferrante, Eliseo, Turgut, Ali Emre, Dorigo, Marco, and Huepe, Cristián

Subjects
Condensed Matter - Soft Condensed Matter, Nonlinear Sciences - Adaptation and Self-Organizing Systems, Physics - Biological Physics, Quantitative Biology - Quantitative Methods
Abstract

We introduce a simple model of self-propelled agents connected by linear springs, with no explicit alignment rules. Below a critical noise level, the agents self-organize into a collectively translating or rotating group. We derive analytical stability conditions for the translating state in an elastic sheet approximation. We propose an elasticity-based mechanism that drives convergence to collective motion by cascading self-propulsion energy towards lower-energy modes. Given its simplicity and ubiquity, such mechanism could play a relevant role in various biological and robotic swarms., Comment: 5 pages, 3 figures

Published
2013

46. Human Responses to Stimuli Produced by Robot Swarms - the Effect of the Reality-Gap on Psychological State

Author

Podevijn, Gaëtan, O’Grady, Rehan, Fantini-Hauwel, Carole, Dorigo, Marco, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Groß, Roderich, editor, Kolling, Andreas, editor, Berman, Spring, editor, Frazzoli, Emilio, editor, Martinoli, Alcherio, editor, Matsuno, Fumitoshi, editor, and Gauci, Melvin, editor

Published
2018
Full Text
View/download PDF

47. Collective Perception of Environmental Features in a Robot Swarm

Author

Valentini, Gabriele, Brambilla, Davide, Hamann, Heiko, Dorigo, Marco, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Dorigo, Marco, editor, Birattari, Mauro, editor, Li, Xiaodong, editor, López-Ibáñez, Manuel, editor, Ohkura, Kazuhiro, editor, Pinciroli, Carlo, editor, and Stützle, Thomas, editor

Published
2016
Full Text
View/download PDF

48. Population Coding: A New Design Paradigm for Embodied Distributed Systems

Author

Hamann, Heiko, Valentini, Gabriele, Dorigo, Marco, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Dorigo, Marco, editor, Birattari, Mauro, editor, Li, Xiaodong, editor, López-Ibáñez, Manuel, editor, Ohkura, Kazuhiro, editor, Pinciroli, Carlo, editor, and Stützle, Thomas, editor

Published
2016
Full Text
View/download PDF

Catalog

Books, media, physical & digital resources
See catalog results