Orchestration and Programming ENergy-aware and collaborative Swarms With AI-powered Reliable Methods

Project Information

OpenSwarm

Grant agreement ID: 101093046

DOI

10.3030/101093046

EC signature date 24 November 2022

Start date 1 January 2023

End date 30 April 2026

Funded under

• Digital, Industry and Space

Total cost

€ 5 322 116,25

EU contribution

€ 5 322 116,25

Coordinated by

INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET AUTOMATIQUE
France

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Documents, reports (17)

Running list of dissemination activities together with reports from each event
Study on the accuracy vs overhead trade-offs of energy-aware scheduling methods for swarm objectives
APM for monitoring a swarm with a configurable level of monitoring, tracing and logging
Performance of the Coaty framework and benchmarking on the OpenTestbed
Report on mechanisms for low-power online learning and knowledge transfer
Performance results from combining flexible charge storage driven with energy-aware scheduling
Study on the trade-offs involved with partial CNN over-the-air update in constrained environments
Footprint of a secure firmware management solution for embedded devices
Analysis of decentralized GNN knowledge distribution and privacy-preservation
Functional Specification, architecture and performance of the OpenSwarm Compiler
Benchmarking results of a zero-touch lifecycle framework and benchmarking o the Open Testbed
Swarm programming User Interface (UI) wire frame, user guide and software architecture
Zero-Wire concept translate from from optical to RF-bawed communication
Collection of ethics, safety & regulation guidelines to be reviewed yearly

Collection of ethics safety regulation guidelines to be reviewed yearly

First version of an architecture, in the form of a set of living Confluence pages

First version of an architecture in the form of a set of living Confluence pages

New TSCH scheduling approaches support mobility and enabled latency predictability
Functional Specification, firmware architecture and benchmarking of the OpenSwarm embedded VM

Other (2)

Requirements in the form of a consolidated Jama stakeholder requirement database
Foundation of the OpenSwarm implementation with corresponding documentation

Websites, patent fillings, videos etc. (1)

Visual identity defined, communication schedule, website running and first video posted

Visual identity defined communication schedule website running and first video posted

Publications

Conference proceedings (32)

RobOTAP: Over-the-Air Programming of Robotic Swarms

Author(s): Alexandre Abadie, Said Alvarado-Marin, Filip Maksimovic, Mališa Vučinić, Thomas Watteyne
Published in: 2024 IEEE Workshop on Crystal-Free/-Less Radio and System-Based Research for IoT (CrystalFreeIoT), 2024
Publisher: IEEE
DOI: 10.1109/CrystalFreeIoT62484.2024.00012

When to Attest? Intra-and Post-Handshake Attestation for IoT Swarms

Author(s): Song, Y., Sardar, M. U., Fedrecheski, G., Vučinić, M., Watteyne, T.
Published in: IEEE Conference on Standards for Communications and Networking (CSCN), 2025
Publisher: IEEE

Pre-Shared Key Authentication in Ephemeral Diffie-Hellman Over COSE

Author(s): Elsa Lopez Perez, Thomas Watteyne, Mališa Vučinić
Published in: 2024 11th International Conference on Internet of Things: Systems, Management and Security (IOTSMS), 2024
Publisher: IEEE
DOI: 10.1109/IOTSMS62296.2024.10710190

The Embedded Orchestra

Author(s): Romain Facq; Charles Thonier; Trifun Savic; Bertrand Marcon, Thomas Watteyne
Published in: 2024 IEEE Symposium on Computers and Communications (ISCC 2024), 2024
Publisher: IEEE

AuRA: Remote Attestation over EDHOC for Constrained Internet-of-Things Use Cases

Author(s): Song, Y., Fedrecheski, G., Vučinić, M., and Watteyne, T.
Published in: 2025
Publisher: IEEE

Online Adaptation of Compressed Models by Pre-Training and Task-Relevant Pruning

Author(s): Avé, T., Hutsebaut-Buysse, M., Wei, W., & Mets, K.
Published in: 32nd European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning, 2024
Publisher: ESANN

TMVS: Threshold-based Majority Voting Scheme for Robust SRAM PUFs

Author(s): Sara Faour, Mališa Vučinić, Filip Maksimovic, David C Burnett, Paul Mühlethaler, et al..
Published in: IEEE Symposium on Computers and Communications (ISCC), 2024
Publisher: IEEE

A Time Synchronized Multi-Hop Mesh Network with Crystal-Free Nodes

Author(s): Filip Maksimovic, Austin Patel, David Burnett, Thomas Watteyne, Kristofer S.J. Pister
Published in: GLOBECOM 2023 - 2023 IEEE Global Communications Conference, 2024
Publisher: IEEE
DOI: 10.1109/GLOBECOM54140.2023.10437167

ABL: Leveraging Millimeter Wave Pulses for Low Latency IoT Networking

Author(s): Bingwu Fang, Jonathan Oostvogels, Xinlei Liu, Andrey Belogaev, Sam Michiels, Jeroen Famaey, Danny Hughes
Published in: 2024 IEEE Workshop on Crystal-Free/-Less Radio and System-Based Research for IoT (CrystalFreeIoT), 2024
Publisher: IEEE
DOI: 10.1109/CrystalFreeIoT62484.2024.00010

Single-Chip Motes and SRAM PUF: Feasibility Study

Author(s): Sara Faour, Blaz Korecic, Mališa Vučinić, Filip Maksimovic, David C. Burnett, Paul Muhlethaler, Thomas Watteyne
Published in: 2024 IEEE Workshop on Crystal-Free/-Less Radio and System-Based Research for IoT (CrystalFreeIoT), 2024
Publisher: IEEE
DOI: 10.1109/CrystalFreeIoT62484.2024.00009

Feature-level fusion in wireless acoustic sensor networks with graph attention networks for classification of domestic activities

Author(s): Wei, Wei; Hutsebaut-Buysse, Matthias; Avé, Thomas; De Schepper, Tom; Mets, Kevin
Published in: 2nd Workshop on Data Fusion for Artificial Intelligence, 27th European Conference on Artificial Intelligence (ECAI), 2024
Publisher: ECAI

Qrkey: Simply and Securely Controlling Swarm Robots

Author(s): Alexandre Abadie, Mališa Vučinić, Diego Badillo, Said Alvarado-Marin, Filip Maksimovic, Thomas Watteyne
Published in: IEEE INFOCOM 2024 - IEEE Conference on Computer Communications Workshops (INFOCOM WKSHPS), 2024
Publisher: IEEE
DOI: 10.1109/INFOCOMWKSHPS61880.2024.10620910

Enhancing Security for Constrained IoT Devices with Lightweight Remote Attestation

Author(s): Yuxuan Song, Mališa Vučinić, Thomas Watteyne
Published in: Journée commune au GDR RSD, GPL (GT GLSEC) et SI (GT SSLR) sur la sécurité des piles réseau, 2024
Publisher: LIFO

Poster Abstract: Hands-on Evaluation of Kinéis Satellite IoT Technology

Author(s): Raúl De La Fuente; Thomas Watteyne
Published in: IPSN 2023 - ACM/IEEE International Conference on Information Processing in Sensor Networks, 2023
Publisher: ACM/IEEE
DOI: 10.1145/3583120.3589837

ELA: Secure, Lightweight, and Zero-Touch Enrollment for IoT Devices

Author(s): Geovane Fedrecheski, Göran Selander, Thomas Watteyne, Mališa Vučinić
Published in: 2025 21st International Conference on Distributed Computing in Smart Systems and the Internet of Things (DCOSS-IoT), 2025
Publisher: IEEE
DOI: 10.1109/DCOSS-IOT65416.2025.00036

Low-power Energy Management Module for Ambiently Powered Robotic Swarms

Author(s): Mohmmadsadegh Mokhtari, Parham Haji Ali Mohamadi, Dragan Subotic, Ritesh Kumar Singh, Bram Vanderborght, Maarten Weyn, Jeroen Famaey
Published in: 2024 IEEE 21st International Conference on Smart Communities: Improving Quality of Life using AI, Robotics and IoT (HONET), 2025
Publisher: IEEE
DOI: 10.1109/HONET63146.2024.10822934

Demo: DotBot, a cm-Scale, Easy-to-Use Micro-Robot for Swarm Research

Author(s): Alvarado-Marin, Said; Abadie, Alexandre; Maksimovic, Filip; Balbi, Martina; Savić, Trifun; Watteyne, Thomas
Published in: "Breaking Swarm Stereotypes Workshop"" at IEEE International Conference on Robotics and Automation (ICRA)", 2024
Publisher: IEEE

A Comparative Study of Energy Replenishment Strategies for Robot Swarms

Author(s): Genki Miyauchi, Mohamed S. Talamali, Roderich Groß
Published in: Lecture Notes in Computer Science, Swarm Intelligence, 2024
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-70932-6_1

Sharing the control of robot swarms among multiple human operators: A user study

Author(s): Genki Miyauchi; Yuri Kaszubowski Lopes; Roderich Groß
Published in: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
Publisher: IEEE/RSJ
DOI: 10.1109/IROS55552.2023.10342457

Demo FreeBot, a Battery-Free Swarm Robotics Platform

Author(s): Mengyao Liu; Fan Yang; Sam Michiels; Tom Van Eyck; Danny Hughes; Said Alvarado-Marin; Filip Maksimovic; Thomas Watteyne
Published in: Proceedings of the 21st ACM Conference on Embedded Networked Sensor Systems (SenSys 2023), 2023
Publisher: ACM
DOI: 10.1145/3625687.3628401

Twofer: Ambiguous Transmissions for Low-Latency Sensor Networks Facing Noise, Privacy and Loss

Author(s): Jonathan Oostvogels, Sam Michiels, Danny Hughes
Published in: 2024 23rd ACM/IEEE International Conference on Information Processing in Sensor Networks (IPSN), Issue 171, 2024
Publisher: IEEE
DOI: 10.1109/IPSN61024.2024.00022

On the Benefits of Robot Platooning for Navigating Crowded Environments

Author(s): Jahir Argote-Gerald, Genki Miyauchi, Paul Trodden, Roderich Gross
Published in: International Symposium on Distributed Autonomous Robotic Systems (DARS), 2024
Publisher: Springer
DOI: 10.48550/arXiv.2410.14406

Performance Comparison of EDHOC and DTLS 1.3 in Internet-of-Things Environments

Author(s): Fedrecheski, Geovane; Vučinić, Mališa; Watteyne, Thomas
Published in: IEEE Wireless Communications and Networking Conference, 2024
Publisher: IEEE
DOI: 10.1109/wcnc57260.2024.10570830

A comparative study of energy replenishment strategies for robot swarms

Author(s): Genki Miyauchi; Mohamed S. Talamali; Roderich Gross
Published in: ANTS 2024: 14th International Conference on Swarm Intelligence, 2024
Publisher: ANTS
DOI: 10.15131/shef.data.25561923.v2

Blip: Identifying Boats in a Smart Marina Environment

Author(s): Savić, Trifun; Brun-Laguna, Keoma; Watteyne, Thomas
Published in: 2023 19th International Conference on Distributed Computing in Smart Systems and the Internet of Things (DCOSS-IoT), 2023
Publisher: IEEE
DOI: 10.1109/dcoss-iot58021.2023.00111

Running SmartMesh on the MAX32655 with MicroPython

Author(s): Sampaio, Luiz; O'Riordan, Kate; Coffey, Brian; Doherty, Lance; Watteyne, Thomas
Published in: IECON 2024 - 50th Annual Conference of the IEEE Industrial Electronics Society, 2024
Publisher: IEEE

Reducing the stability gap for continual learning at the edge with class balancing

Author(s): Wei Wei, Matthias Hutsebaut-Buysse, Tom De Schepper, Kevin Mets
Published in: ESANN 2025 proceesdings, 2025
Publisher: Ciaco - i6doc.com
DOI: 10.14428/ESANN/2025.ES2025-139

ENOCH: ENabling On-body network Contention Handling

Author(s): Mengyao Liu, Jonathan Oostvogels, Bingwu Fang, Sam Michiels, Haoxiang Ma, Yang Yang, Danny Hughes
Published in: 2025 IEEE International Conference on Pervasive Computing and Communications (PerCom), 2025
Publisher: IEEE
DOI: 10.1109/PERCOM64205.2025.00031

CapBot: Enabling Battery-Free Swarm Robotics

Author(s): Mengyao Liu, Lowie Deferme, Tom Van Eyck, Fan Yang, Sam Michiels, Alexandre Abadie, Said Alvarado-Marin, Filip Maksimovic, Genki Miyauchi, Jessica Jayakumar, Mohamed S. Talamali, Thomas Watteyne, Roderich Groß, Danny Hughes
Published in: 2025 IEEE International Conference on Robotics and Automation (ICRA), 2025
Publisher: IEEE
DOI: 10.1109/ICRA55743.2025.11127301

WELOC: Localizing Equipment in Marinas Using Ultrasound

Author(s): Trifun Savić, Keoma Brun-Laguna, Thomas Watteyne
Published in: 2023 IEEE 9th World Forum on Internet of Things (WF-IoT), 2024
Publisher: IEEE
DOI: 10.1109/WF-IoT58464.2023.10539567

Ready, Bid, Go! On-Demand Delivery Using Fleets of Drones with Unknown, Heterogeneous Energy Storage Constraints

Author(s): Talamali, M.S., Miyauchi, G., Watteyne, T., Gross, R., Couceiro, M.S..
Published in: The 24th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2025), 2025
Publisher: AAMAS
DOI: 10.48550/ARXIV.2504.08585

UpGate: Low-Power and Secure Over-the-Air Hardware Reconfiguration for Deployed FPGAs

Author(s): Alexandre Abadie, Alfonso Cortes-Neira, Thomas Watteyne, Filip Maksimovic
Published in: 2025 28th Conference on Innovation in Clouds, Internet and Networks (ICIN), 2025
Publisher: IEEE
DOI: 10.1109/ICIN64016.2025.10942953

Peer reviewed articles (10)

Monitoring performance metrics in low-power wireless systems

Author(s): Fabian Graf, Thomas Watteyne, Michael Villnow
Published in: ICT Express, Issue 10, 2024, ISSN 2405-9595
Publisher: Elsevier BV
DOI: 10.1016/j.icte.2024.08.004

Minimal-Overlap Centrality for Multi-Gateway Designation in Real-Time TSCH Networks

Author(s): Miguel Gutiérrez Gaitán, Luís Almeida, Pedro M. D’orey, Pedro M. Santos, Thomas Watteyne
Published in: ACM Transactions on Embedded Computing Systems, Issue 23, 2025, ISSN 1539-9087
Publisher: Association for Computing Machinery (ACM)
DOI: 10.1145/3610583

Automatic Lighthouse Calibration Using Conics for Indoor Robot Localization

Author(s): Said Alvarado-Marin, Alexandre Abadie, Martina Balbi, Thomas Watteyne, Filip Maksimovic
Published in: IEEE Robotics and Automation Letters, Issue 10, 2025, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3575319

Scalable Plug-and-Play Robotic Fabrics Based on Kilobot Modules

Author(s): Stanley C. Obilikpa, Mohamed S. Talamali, Genki Miyauchi, John Oyekan, Roderich Groß
Published in: IEEE Robotics and Automation Letters, Issue 10, 2025, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3568313

Embedded Artificial Intelligence for IoT Applications Using the MAX78000

Author(s): Martina Balbi, Lance Doherty, Thomas Watteyne
Published in: IEEE Access, Issue 13, 2025, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/ACCESS.2025.3546557

A comprehensive survey on channel hopping and scheduling enhancements for TSCH networks

Author(s): Martina Balbi, Lance Doherty, Thomas Watteyne
Published in: Journal of Network and Computer Applications, Issue 238, 2025, ISSN 1084-8045
Publisher: Elsevier BV
DOI: 10.1016/J.JNCA.2025.104164

EDHOC Is a New Security Handshake Standard: An Overview of Security Analysis

Author(s): Elsa López Pérez, Göran Selander, John Preuß Mattsson, Thomas Watteyne, Mališa Vučinić
Published in: Computer, Issue 57, 2024, ISSN 0018-9162
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/MC.2024.3415908

Lighthouse Localization of Miniature Wireless Robots

Author(s): Said Alvarado-Marin; Cristobal Huidobro-Marin; Martina Balbi; Trifun Savić; Thomas Watteyne; Filip Maksimovic
Published in: "IEEE Robotics and Automation Letters, In press, pp.1-8. ⟨10.1109/LRA.2024.3405345⟩", 2024, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2024.3405345

Secure Communication for the IoT: EDHOC and (Group) OSCORE Protocols

Author(s): Rikard Höglund, Marco Tiloca, Göran Selander, John Preuß Mattsson, Mališa Vučinić, Thomas Watteyne
Published in: IEEE Access, Issue 12, 2024, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/ACCESS.2024.3384095

Policy Compression for Intelligent Continuous Control on Low-Power Edge Devices

Author(s): Thomas Avé, Tom De Schepper, Kevin Mets
Published in: Sensors, Issue 24, 2024, ISSN 1424-8220
Publisher: MDPI AG
DOI: 10.3390/s24154876