4 papers
Speed-Weighted Flocking for Sailing Swarms under Dynamic Environmental Forcing
Pranav Kedia, Aaron Gan, Hannah J. Williams +2
Collective behavior models, such as aggregation and flocking, usually assume self-propelled robots that can directly execute their desired speed and direction of motion without fun…
Bimodal Synchronization Performance: Why Noise and Sparse Connectivity Can Improve Collective Timing
Till Aust, Tianfu Zhang, Andreagiovanni Reina +1
Pulse-coupled oscillator models inspired by firefly synchronization are widely used to study decentralized time coordination in distributed systems. We analyze a discrete-time, dis…
Optimal Scalability-Aware Allocation of Swarm Robots: From Linear to Retrograde Performance via Marginal Gains
Simay Atasoy Bingöl, Tobias Töpfer, Sven Kosub +2
In collective systems, the available agents are a limited resource that must be allocated among tasks to maximize collective performance. Computing the optimal allocation of severa…
Bayesian Decentralized Decision-making for Multi-Robot Systems: Sample-efficient Estimation of Event Rates
Gabriel Aguirre, Simay Atasoy Bingöl, Heiko Hamann +1
Effective collective decision-making in swarm robotics often requires balancing exploration, communication and individual uncertainty estimation, especially in hazardous environmen…