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Concept

Agrégation (comportement)

Publications associées (19)

Predicting the long-term collective behaviour of fish pairs with deep learning

Francesco Mondada, Alexandre Massoud Alahi, Vaios Papaspyros

Modern computing has enhanced our understanding of how social interactions shape collective behaviour in animal societies. Although analytical models dominate in studying collective behaviour, this study introduces a deep learning model to assess social in ...

2024

Vision-based Flocking in Aerial Robot Swarms

Fabian Maximilian Schilling

Aerial robot swarms have the potential to perform time-critical and dangerous tasks such as disaster response without compromising human safety. However, their reliance on external infrastructure such as global positioning for localization and wireless net ...

EPFL2022

On the Scalability of Vision-based Drone Swarms in the Presence of Occlusions

Dario Floreano, Fabian Maximilian Schilling, Enrica Soria

Vision-based drone swarms have recently emerged as a promising alternative to address the fault-tolerance and flexibility limitations of centralized and communication-based aerial collective systems. Although most vision-based control algorithms rely on th ...

2022

Model Predictive Control of Aerial Swarms

Enrica Soria

Aerial robot swarms can have a large socio-economic impact. They can perform time-critical missions faster than a single robot and access dangerous environments without compromising human safety. However, swarm deployment is often limited to free environme ...

EPFL2022

Vision-based Drone Flocking in Outdoor Environments

Dario Floreano, Fabrizio Schiano, Fabian Maximilian Schilling

Decentralized deployment of drone swarms usually relies on inter-agent communication or visual markers that are mounted on the vehicles to simplify their mutual detection. This letter proposes a vision-based detection and tracking algorithm that enables gr ...

2021

Flocking-enhanced social contagion

Ignacio Pagonabarraga Mora

Populations of mobile agents-animal groups, robot swarms, or crowds of people-self-organize into a large diversity of states as a result of information exchanges with their surroundings. While in many situations of interest the motion of the agents is driv ...

AMER PHYSICAL SOC2020

The influence of limited visual sensing on the Reynolds ﬂocking algorithm

Dario Floreano, Fabrizio Schiano, Enrica Soria

The interest in multi-drone systems flourished in the last decade and their application is promising in many fields. We believe that in order to make drone swarms flying smoothly and reliably in real-world scenarios we need a first intermediate step which ...

2019

Learning Vision-based Flight in Drone Swarms by Imitation

Dario Floreano, Fabrizio Schiano, Fabian Maximilian Schilling, Julien Jean Denis Nicolas Lecoeur

Decentralized drone swarms deployed today either rely on sharing of positions among agents or detecting swarm members with the help of visual markers. This work proposes an entirely visual approach to coordinate markerless drone swarms based on imitation l ...

2019

Fixed-wing drones for communication networks

Maja Varga

In the last decade, drones became frequently used to provide eye-in-the-sky overview in the outdoor environment. Their main advantage compared to the other types of robots is that they can fly above obstacles and rough terrains and they can quickly cover l ...

EPFL2016

Intearcting Brownian Swarms: Some Analytical Results

Max-Olivier Hongler, Guillaume Adrien Sartoretti

We consider the dynamics of swarms of scalar Brownian agents subject to local imitation mechanisms implemented using mutual rank-based interactions. For appropriate values of the underlying control parameters, the swarm propagates tightly and the distances ...

MDPI AG2016

Design Methods for Miniature Underwater Soft Robots

Francesco Mondada, Frank Bonnet, Daniel Burnier, Norbert Crot

A robotic fish accepted by animals as conspecifics is a very powerful tool in behavioral biology. To obtain the acceptance of the device towards the animals, it should generate some visual stimuli that can be perceived by a living fish as attractive signal ...

Ieee2016

Control of agent swarms in random environments

Guillaume Adrien Sartoretti

The collective dynamic behavior of large groups of interacting autonomous agents (swarms) have inspired much research in both fundamental and engineering sciences. It is now widely acknowledged that the intrinsic nonlinearities due to mutual interactions c ...

EPFL2016

Distributed vs. Centralized Particle Swarm Optimization for Learning Flocking Behaviors

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

In this paper we address the automatic synthesis of controllers for the coordinated movement of multiple mobile robots. We use a noise-resistant version of Particle Swarm Optimization to learn in simulation a set of 50 weights of a plastic artificial neura ...

The MIT Press2015

Mechanosensory interactions drive collective behaviour in Drosophila

Dario Floreano, Pavan P Ramdya, Pawel Lichocki

Collective behaviour enhances environmental sensing and decision-making in groups of animals. Experimental and theoretical investigations of schooling fish, flocking birds and human crowds have demonstrated that simple interactions between individuals can ...

2015

Learning search behaviour from humans

Aude Billard, Guillaume Pierre Luc De Chambrier

A frequent method for taking into account the partially observable nature of an environment in which robots interact lies in formulating the problem domain as a Partially Observable Markov Decision Process (POMDP). By having humans demonstrate how to act i ...

2013

Reynolds flocking in reality with fixed-wing robots: communication range vs. maximum turning rate

Dario Floreano, Jean-Christophe Zufferey, Sabine Hauert, Severin Leven, Maja Varga

The success of swarm behaviors often depends on the range at which robots can communicate and the speed at which they change their behavior. Challenges arise when the communication range is too small with respect to the dynamics of the robot, preventing in ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2011

Scripting the swarm: event-based control of microcontroller-based robots

Francesco Mondada, Stéphane Magnenat, Philippe Rétornaz, Basilio Noris

Swarm robotics in real world requires a large number of robots and thus enough room for experimentation. Therefore, to implement such experiments with limited budget, robots should be compact and low cost, which entails the use of microcontroller-based min ...

2008

Communication in a Swarm of Miniature Robots: The e-Puck as an Educational Tool for Swarm Robotics

Alcherio Martinoli

Swarm intelligence, and swarm robotics in particular, are reaching a point where leveraging the potential of communication within an artificial systempromises to uncover newand varied directions for interesting research without compromising the key propert ...

2007

VISUAL CONTRACTS: A way to reason about states and cardinalities in IT system specifications

Alain Wegmann, José Diego de la Cruz Garcia

Visual modeling languages propose specialized diagrams to represent behaviour and concepts necessary to specify IT systems. As a result, to understand a specification, the modeller needs to analyze these two types of diagrams and, often, additional stateme ...

2006