7 papers
Acoustic Ellipses: Bio-Inspired Omnidirectional Echolocation in Cooperative Multi-Agent Systems using Frequency Sweeps
Petras Swissler, Lindsay Burke, Julia Hyland Bruno
Inspired by the flight and song of birds, we propose an approach that enables cooperating agents to effectively identify obstacles in their environment by having a stationary sourc…
AeRove: A Compact Bimodal Aerial-Terrestrial Drone with Rapid Bistable Reconfiguration for Close-Range Pipeline Inspection
Caleb Polillio, Petras Swissler
Close-proximity pipeline inspection is challenging for standard drones due to high hovering power consumption, airflow sensitivity, and propeller wash interference with gas sensing…
DeRP: An Algorithm for Self-Assembly of Power-Delivery Networks using Recursive Branching in Information-Limited Environments
Mohammadali Rashidioun, Sangwoo Park, Petras Swissler
Delivering sustained power to distributed equipment in unstructured field environments using pre-planned wired networks or battery-based solutions presents significant infrastructu…
Contact-Driven Localization in a Freeform Robotic Self-Assembled Structure
Mohammadali Rashidioun, Michael Sosa, Petras Swissler
Accurate localization remains a key challenge in swarm robotics, particularly for self-reconfigurable systems that must identify relative positions to form diverse structures. Most…
Optimal Reconfiguration of Distributed Battery Networks Under Connectivity and Energy Constraints
Pranay KC, Amin Taghieh, Maria Angel Palacios +3
Networked battery systems arise in industrial automation, distributed energy applications, and multi-agent systems, where terminals consume energy locally and recharge only when co…
A Swarm Approach to Public Transit Using On-demand Routing in a Slime-Mold-Inspired Framework
Lindsay Burke, Maxfield Comstock, Jason Graham +3
Demand-responsive transit (DRT) is a flexible alternative to traditional, fixed-route mass-transit networks. Although DRT can function well in low-density communities, high operati…
Human-in-the-Loop Swarms: A Bionic Swarm Approach to Real-World Soil Mapping
Petras Swissler, Mohammadali Rashidioun, Nicholas Sahu +3
Swarm and field robotics face significant barriers to real-world validation due to the high cost and development time to deploy hardware. This paper introduces the ``Bionic Swarm,'…