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cs.RO2025
Analytical Swarm Chemistry: Characterization and Analysis of Emergent Swarm Behaviors
Ricardo Vega, Connor Mattson, Kevin Zhu +2
Swarm robotics has potential for a wide variety of applications, but real-world deployments remain rare due to the difficulty of predicting emergent behaviors arising from simple l…
cs.RO2025
Classifying Emergence in Robot Swarms: An Observer-Dependent Approach
Ricardo Vega, Cameron Nowzari
Emergence and swarms are widely discussed topics, yet no consensus exists on their formal definitions. This lack of agreement makes it difficult not only for new researchers to gra…
cs.RO2025
Discovery and Deployment of Emergent Robot Swarm Behaviors via Representation Learning and Real2Sim2Real Transfer
Connor Mattson, Varun Raveendra, Ricardo Vega +3
Given a swarm of limited-capability robots, we seek to automatically discover the set of possible emergent behaviors. Prior approaches to behavior discovery rely on human feedback…