Automatic Design of Robot Swarms

DeimOS: a ROS-ready operating system for the e-puck

Author(s): M. Kegeleirs, D. Garzon Ramos, and M. Birattari
Published in: IRIDIA — Technical Report Series. ISSN 1781-3794, Issue IridiaTr2022-013, 2022
Publisher: IRIDIA, Université Libre de Bruxelles

Notes on the estimation of the expected performance of automatic methods for the design of control software for robot swarms.

Author(s): M. Birattari
Published in: IRIDIA — Technical Report Series. ISSN 1781-3794, Issue IridiaTr2020-010, 2020
Publisher: IRIDIA, Université Libre de Bruxelles

Mercator: hardware and software architecture for experiments in swarm SLAM

Author(s): M. Kegeleirs, R. Todesco, D. Garzón Ramos, G. Legarda Herranz, M. Birattari
Published in: IRIDIA — Technical Report Series. ISSN 1781-3794, Issue IridiaTr2022-012, 2022
Publisher: IRIDIA, Université Libre de Bruxelles

Minimizing the variance in the estimation of the performance of a method for the fully-automatic design of robot swarms: a mathematical proof.

Author(s): A. Cotorruelo, A. Ligot, E. Garone, M. Birattari
Published in: IRIDIA — Technical Report Series. ISSN 1781-3794, 2021
Publisher: IRIDIA, Université Libre de Bruxelles

Search space for AutoMoDe-Chocolate and AutoMoDe-Maple.

Author(s): J. Kuckling, A. Ligot, D. Bozhinoski, M. Birattari
Published in: IRIDIA — Technical Report Series. ISSN 1781-3794, 2018
Publisher: IRIDIA, Université Libre de Bruxelles

AutoMoDe, NEAT, and EvoStick: Implementations for the e-puck robot in ARGoS3.

Author(s): A. Ligot, K. Hasselmann, B. Delhaisse, L. Garattoni, G. Francesca, M. Birattari
Published in: IRIDIA — Technical Report Series. ISSN 1781-3794, 2017
Publisher: IRIDIA, Université Libre de Bruxelles

MoCA: a modular RGB color arena for swarm robotics experiments

Author(s): D. Garzón Ramos, M. Salman, K. Ubeda Arriaza, K. Hasselmann, M. Birattari
Published in: IRIDIA — Technical Report Series. ISSN 1781-3794, Issue IridiaTr2022-014, 2022
Publisher: IRIDIA, Université Libre de Bruxelles

Tycho: a robust, ROS-based tracking system for robot swarms.

Author(s): G. Legarda Herranz, D. Garzón Ramos, J. Kuckling, M. Kegeleirs, M. Birattari
Published in: IRIDIA — Technical Report Series. ISSN 1781-3794, 2022
Publisher: IRIDIA, Université Libre de Bruxelles

Reference models for AutoMoDe.

Author(s): K. Hasselmann, A. Ligot, G. Francesca, D. Garzón Ramos, M. Salman, J. Kuckling, F. J. Mendiburu, M. Birattari
Published in: IRIDIA — Technical Report Series. ISSN 1781-3794, 2018
Publisher: IRIDIA, Université Libre de Bruxelles

BRIC: an interactive smart object for swarm robotics research

Author(s): G. Legarda Herranz, P. Rochala, P. Georgiopoulou, A. Ligot, M. Salman, M. Birattari
Published in: IRIDIA — Technical Report Series. ISSN 1781-3794, 2022
Publisher: IRIDIA, Université Libre de Bruxelles

AutoMoDe editor: A visualization tool for AutoMoDe.

Author(s): J. Kuckling, K. Hasselmann, V. van Pelt, C. Kiere, M. Birattari
Published in: IRIDIA — Technical Report Series. ISSN 1781-3794, Issue IridiaTr2021-009, 2021
Publisher: IRIDIA, Université Libre de Bruxelles

AutoMoDe-Arlequin: Neural Networks as Behavioral Modules for the Automatic Design of Probabilistic Finite-State Machines

Author(s): Antoine Ligot, Ken Hasselmann, Mauro Birattari
Published in: Swarm Intelligence - 12th International Conference, ANTS 2020, Barcelona, Spain, October 26–28, 2020, Proceedings, 2020, Page(s) 271-281, ISBN 978-3-030-60375-5
Publisher: Springer
DOI: 10.1007/978-3-030-60376-2_21

Automatic Modular Design of Behavior Trees for Robot Swarms with Communication Capabilites

Author(s): Jonas Kuckling, Vincent van Pelt, Mauro Birattari
Published in: Applications of Evolutionary Computation - 24th International Conference, EvoApplications 2021, Held as Part of EvoStar 2021, Virtual Event, April 7–9, 2021, Proceedings, 2021, Page(s) 130-145, ISBN 978-3-030-72698-0
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-72699-7_9

Decentralised Negotiation for Multi-Object Collective Transport with Robot Swarms

Author(s): Guillermo Legarda Herranz, Sabine Hauert, Simon Jones
Published in: IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), 2022, Page(s) 186-191, ISBN 978-1-6654-8217-2
Publisher: IEEE
DOI: 10.1109/icarsc55462.2022.9784801

Controlling Robot Swarm Aggregation Through a Minority of Informed Robots

Author(s): Antoine Sion, Andreagiovanni Reina, Mauro Birattari, Elio Tuci
Published in: Lecture Notes in Computer Science, 2022, Page(s) 91–103
Publisher: Springer
DOI: 10.1007/978-3-031-20176-9_8

The automatic off-line design of robot swarms: recent advances and perspectives

Author(s): David Garzón Ramos, Darko Bozhinoski, Gianpiero Francesca,Lorenzo Garattoni, Ken Hasselmann, Miquel Kegeleirs,Jonas Kuckling, Antoine Ligot, Fernando J. Mendiburu,Federico Pagnozzi, Muhammad Salman,Thomas Stützle, Mauro Birattari
Published in: R2T2: Robotics Research for Tomorrow’s Technology, 2021
Publisher: Technology Innovation Institute

A Hybrid-System Formalism to Verify Properties of Robot Swarms

Author(s): Guillermo Legarda Herranz, Emanuele Garone, Mauro Birattari
Published in: 41st Benelux Meeting on Systems and Control, 2022, Page(s) 46
Publisher: 41st Benelux Meeting on Systems and Control

Designing control software for robot swarms: Software engineering for the development of automatic design methods

Author(s): Darko Bozhinoski, Mauro Birattari
Published in: 2018 ACM/IEEE 1st International Workshop on Robotics Software Engineering, 2018, Page(s) 33-35, ISBN 978-1-4503-5760-9
Publisher: ACM
DOI: 10.1145/3196558.3196564

Automatic Design of Communication-Based Behaviors for Robot Swarms

Author(s): Ken Hasselmann, Frédéric Robert, Mauro Birattari
Published in: Swarm Intelligence - 11th International Conference, ANTS 2018, Rome, Italy, October 29–31, 2018, Proceedings, 2018, Page(s) 16-29, ISBN 978-3-030-00532-0
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-00533-7_2

Behavior Trees as a Control Architecture in the Automatic Modular Design of Robot Swarms

Author(s): Jonas Kuckling, Antoine Ligot, Darko Bozhinoski, Mauro Birattari
Published in: Swarm Intelligence - 11th International Conference, ANTS 2018, Rome, Italy, October 29–31, 2018, Proceedings, 2018, Page(s) 30-43, ISBN 978-3-030-00532-0
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-00533-7_3

On Mimicking the Effects of the Reality Gap with Simulation-Only Experiments

Author(s): Antoine Ligot, Mauro Birattari
Published in: Swarm Intelligence - 11th International Conference, ANTS 2018, Rome, Italy, October 29–31, 2018, Proceedings, 2018, Page(s) 109-122, ISBN 978-3-030-00532-0
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-00533-7_9

Hybrid Control of Swarms for Resource Selection

Author(s): Marco Trabattoni, Gabriele Valentini, Marco Dorigo
Published in: Swarm Intelligence - 11th International Conference, ANTS 2018, Rome, Italy, October 29–31, 2018, Proceedings, 2018, Page(s) 57-70, ISBN 978-3-030-00532-0
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-00533-7_5

Simulating Multi-robot Construction in ARGoS

Author(s): Michael Allwright, Navneet Bhalla, Carlo Pinciroli, Marco Dorigo
Published in: Swarm Intelligence - 11th International Conference, ANTS 2018, Rome, Italy, October 29–31, 2018, Proceedings, 2018, Page(s) 188-200, ISBN 978-3-030-00532-0
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-00533-7_15

Random Walk Exploration for Swarm Mapping

Author(s): Miquel Kegeleirs, David Garzón Ramos, Mauro Birattari
Published in: Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, London, UK, July 3–5, 2019, Proceedings, Part II, 2019, Page(s) 211-222, ISBN 978-3-030-25331-8
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-25332-5_19

Simulated Annealing as an Optimization Algorithm in the Automatic Modular Design of Control Software for Robot Swarms

Author(s): Jonas Kuckling, Keneth Ubeda Arriaza, Mauro Birattari
Published in: BNAIC 2019: Artificial Intelligence, 2019
Publisher: Springer

Comparison of different Exploration Schemes in the Automatic Modular Design of Robot Swarms

Author(s): Gaëtan Spaey, Miquel Kegeleirs, David Garzón Ramos, Mauro Birattari
Published in: BNAIC 2019: Artificial Intelligence, 2019
Publisher: Springer

Impact of the Update Time on the Aggregation of Robotic Swarms Through Informed Robots

Author(s): Antoine Sion, Andreagiovanni Reina, Mauro Birattari, Elio Tuci
Published in: Lecture Notes in Computer Science, 2022, Page(s) 193–204
Publisher: Springer
DOI: 10.1007/978-3-031-16770-6_16

Introduciendo la robótica de enjambres a entusiastas de la robótica: experiencias y resultados de una colaboración académica

Author(s): David Garzón Ramos, Juan Pablo Bolaños, Jazmín Diaz, Gabriel Pachajoa, Mauro Birattari
Published in: I Congreso Internacional de la Sociedad de Doctores e Investigadores de Colombia (SOPHIC 2021): la ciencia al servicio de la sociedad, 2022, Page(s) 46-48
Publisher: Editorial SoPhIC

Design of robot swarms by optimization: An instance of AutoMoDe based on simulated annealing.

Author(s): K. Ubeda Arriaza
Published in: Master’s Thesis, Université libre de Bruxelles, 2019
Publisher: The Demiurge Project

Automatic modular design of control software in robot swarms: Towards exploitation of behaviour trees features.

Author(s): V. van Pelt
Published in: Master’s Thesis, Université libre de Bruxelles, 2020
Publisher: The Demiurge Project

Importance sampling with intermediate rewards to estimate the performance of a robot swarm.

Author(s): I.-B. Vlad
Published in: Master’s Thesis, Vrije Universiteit Brussel, 2021
Publisher: The Demiurge Project

Comparison of state-of-the-art evolutionary methods for the design of robot swarms.

Author(s): J. Ruddick
Published in: Master’s Thesis, Université libre de Bruxelles, 2019
Publisher: The Demiurge Project

Intuitive mission specification for robot swarm by learning from demonstration.

Author(s): I. Gharbi
Published in: Master’s Thesis, Université libre de Bruxelles, 2022
Publisher: The Demiurge Project

RVR: A new robot platform for swarm robotics. The building blocks of new horizons.

Author(s): R. Todesco
Published in: Master’s Thesis, Université libre de Bruxelles, 2022
Publisher: The Demiurge Project

A family of methods based on NEAT for the automatic design of behaviors of single robots and robot swarms.

Author(s): A. AlFaham
Published in: Master’s Thesis, Vrije Universiteit Brussel, 2019
Publisher: The Demiurge Project

Comparación empírica de métodos de diseño de enjambres de robots: un estudio en simulación sobre enjambres que coordinan a otros enjambres.

Author(s): D. Garzón Ramos
Published in: Master's Thesis, Universidad Nacional de Colombia, 2022
Publisher: The Demiurge Project

Robot recognition using a 360-degree vision module for swarm robots: A new view on swarm robotics.

Author(s): F. Trouillez
Published in: Master’s Thesis, Université libre de Bruxelles, 2022
Publisher: The Demiurge Project

Building an integrated framework for the automatic modular design of robot swarms.

Author(s): A. Hasan
Published in: Master’s Thesis, Université libre de Bruxelles, 2022
Publisher: The Demiurge Project

Automatic design of collective behaviors for robots that operate in dynamic environments.

Author(s): P. Rochala
Published in: Master’s Thesis, Université libre de Bruxelles, 2021
Publisher: The Demiurge Project

Developing ROS-based software for the e-puck: An experiment in exploration and mapping.

Author(s): M. Kegeleirs
Published in: Master’s Thesis, Université libre de Bruxelles, 2018
Publisher: The Demiurge Project

The influence of random walks on automatic design of robot swarms An experiment with AutoMoDe.

Author(s): G. Spaey
Published in: Master’s Thesis, Université libre de Bruxelles, 2019
Publisher: The Demiurge Project

A modular approach to the automatic design of control software for robot swarms: From a novel perspective on the reality gap to AutoMoDe

Author(s): Gianpiero Francesca
Published in: Doctoral dissertation, Université libre de Bruxelles, 2017
Publisher: Université libre de Bruxelles

Cognitive abilities in swarm robotics. Developing a swarm that can collectively sequence tasks.

Author(s): Lorenzo Garattoni
Published in: Doctoral dissertation, Université libre de Bruxelles, 2021
Publisher: Université libre de Bruxelles

AutoMoDe-Cedrata: Automatic Design of Behavior Trees for Controlling a Swarm of Robots with Communication Capabilities

Author(s): Mauro Birattari; Vincent Van Pelt; Jonas Kuckling
Published in: SN Computer Science, Issue 26618907, 2022, Page(s) 316, ISSN 2661-8907
Publisher: Springer
DOI: 10.1007/s42979-021-00988-9

Towards an Empirical Practice in Off-line Fully-automatic Design of Robot Swarms

Author(s): Antoine Ligot, Andres Cotorruelo, Emanuele Garone, Mauro Birattari
Published in: IEEE Transactions on Evolutionary Computation, Issue 19410026, 2022, ISSN 1941-0026
Publisher: IEEE
DOI: 10.1109/tevc.2022.3144848

Automatic Design of Collective Behaviors for Robots that Can Display and Perceive Colors

Author(s): David Garzón Ramos, Mauro Birattari
Published in: Applied Sciences, Issue 10/13, 2020, Page(s) 4654, ISSN 2076-3417
Publisher: MDPI
DOI: 10.3390/app10134654

On Using Simulation to Predict the Performance of Robot Swarms

Author(s): Antoine Ligot, Mauro Birattari
Published in: Scientific Data, Issue 9, 2022, ISSN 2052-4463
Publisher: Springer Nature
DOI: 10.1038/s41597-022-01895-1

Evaluating the impact of grammar complexity in automatic algorithm design

Author(s): Federico Pagnozzi, Thomas Stützle
Published in: International Transactions in Operational Research, 2020, ISSN 0969-6016
Publisher: Blackwell Publishing
DOI: 10.1111/itor.12902

Disentangling automatic and semi-automatic approaches to the optimization-based design of control software for robot swarms

Author(s): Mauro Birattari, Antoine Ligot, Ken Hasselmann
Published in: Nature Machine Intelligence, Issue 2/9, 2020, Page(s) 494-499, ISSN 2522-5839
Publisher: Springer Nature
DOI: 10.1038/s42256-020-0215-0

Swarm SLAM: Challenges and Perspectives

Author(s): Miquel Kegeleirs, Giorgio Grisetti, Mauro Birattari
Published in: Frontiers in Robotics and AI, Issue 8, 2021, ISSN 2296-9144
Publisher: Frontiers in Robotics and AI
DOI: 10.3389/frobt.2021.618268

Towards an integrated automatic design process for robot swarms

Author(s): Bozhinoski, Darko; Birattari, Mauro
Published in: Open Research Europe, Issue 27325121, 2022, Page(s) 112, ISSN 2732-5121
Publisher: European Commission
DOI: 10.12688/openreseurope.14025.1

Off-Policy Evaluation of the Performance of a Robot Swarm: Importance Sampling to Assess Potential Modifications to the Finite-State Machine That Controls the Robots

Author(s): Federico Pagnozzi, Mauro Birattari
Published in: Frontiers in Robotics and AI, Issue 8, 2021, ISSN 2296-9144
Publisher: Frontiers in Robotics and AI
DOI: 10.3389/frobt.2021.625125

Complexity Measures: Open Questions and Novel Opportunities in the Automatic Design and Analysis of Robot Swarms

Author(s): Andrea Roli, Antoine Ligot, Mauro Birattari
Published in: Frontiers in Robotics and AI, Issue 6, 2019, ISSN 2296-9144
Publisher: Frontiers in Robotics and AI
DOI: 10.3389/frobt.2019.00130

Automatic modular design of robot swarms using behavior trees as a control architecture

Author(s): Antoine Ligot, Jonas Kuckling, Darko Bozhinoski, Mauro Birattari
Published in: PeerJ Computer Science, Issue 6, 2020, Page(s) e314, ISSN 2376-5992
Publisher: PeerJ
DOI: 10.7717/peerj-cs.314

Empirical assessment and comparison of neuro-evolutionary methods for the automatic off-line design of robot swarms

Author(s): Ken Hasselmann, Antoine Ligot, Julian Ruddick, Mauro Birattari
Published in: Nature Communications, Issue 12, 2021, Page(s) 4345, ISSN 2041-1723
Publisher: Nature Publishing Group
DOI: 10.1038/s41467-021-24642-3

Phormica: Photochromic Pheromone Release and Detection System for Stigmergic Coordination in Robot Swarms

Author(s): Muhammad Salman, David Garzón Ramos, Ken Hasselmann, Mauro Birattari
Published in: Frontiers in Robotics and AI, Issue 7, 2020, ISSN 2296-9144
Publisher: Frontiers in Robotics and AI
DOI: 10.3389/frobt.2020.591402

Modular automatic design of collective behaviors for robots endowed with local communication capabilities

Author(s): Ken Hasselmann, Mauro Birattari
Published in: PeerJ Computer Science, Issue 6, 2020, Page(s) e291, ISSN 2376-5992
Publisher: PeerJ
DOI: 10.7717/peerj-cs.291

Autonomous task sequencing in a robot swarm

Author(s): Lorenzo Garattoni, Mauro Birattari
Published in: Science Robotics, Issue 3/20, 2018, Page(s) eaat0430, ISSN 2470-9476
Publisher: Science Robotics
DOI: 10.1126/scirobotics.aat0430

An open-source multi-robot construction system

Author(s): Michael Allwright, Weixu Zhu, Marco Dorigo
Published in: HardwareX, Issue 5, 2019, Page(s) e00050, ISSN 2468-0672
Publisher: Elsevier
DOI: 10.1016/j.ohx.2018.e00050

Safety for mobile robotic systems: A systematic mapping study from a software engineering perspective

Author(s): Darko Bozhinoski, Davide Di Ruscio, Ivano Malavolta, Patrizio Pelliccione, Ivica Crnkovic
Published in: Journal of Systems and Software, Issue 151, 2019, Page(s) 150-179, ISSN 0164-1212
Publisher: Elsevier BV
DOI: 10.1016/j.jss.2019.02.021

Managing safety and mission completion via collective run-time adaptation

Author(s): Darko Bozhinoski, David Garlan, Ivano Malavolta, Patrizio Pelliccione
Published in: Journal of Systems Architecture, Issue 95, 2019, Page(s) 19-35, ISSN 1383-7621
Publisher: Elsevier BV
DOI: 10.1016/j.sysarc.2019.02.018

Automatic Off-Line Design of Robot Swarms: A Manifesto

Author(s): Mauro Birattari, Antoine Ligot, Darko Bozhinoski, Manuele Brambilla, Gianpiero Francesca, Lorenzo Garattoni, David Garzón Ramos, Ken Hasselmann, Miquel Kegeleirs, Jonas Kuckling, Federico Pagnozzi, Andrea Roli, Muhammad Salman, Thomas Stützle
Published in: Frontiers in Robotics and AI, Issue 6, 2019, ISSN 2296-9144
Publisher: Frontiers in robotics and AI
DOI: 10.3389/frobt.2019.00059

Concurrent design of control software and configuration of hardware for robot swarms under economic constraints

Author(s): Muhammad Salman, Antoine Ligot, Mauro Birattari
Published in: PeerJ Computer Science, Issue 5, 2019, Page(s) e221, ISSN 2376-5992
Publisher: PeerJ
DOI: 10.7717/peerj-cs.221

Simulation-only experiments to mimic the effects of the reality gap in the automatic design of robot swarms

Author(s): Antoine Ligot, Mauro Birattari
Published in: Swarm Intelligence, 2019, ISSN 1935-3812
Publisher: Springer Pub. Co.
DOI: 10.1007/s11721-019-00175-w

Iterative improvement in the automatic modular design of robot swarms

Author(s): Jonas Kuckling, Thomas Stützle, Mauro Birattari
Published in: PeerJ Computer Science, Issue 6, 2020, Page(s) e322, ISSN 2376-5992
Publisher: PeerJ
DOI: 10.7717/peerj-cs.322

AutoMoDe-Mate: Automatic off-line design of spatially-organizing behaviors for robot swarms

Author(s): Fernando J. Mendiburu, David Garzón Ramos, Marcos R. A. Morais, Antonio M. N. Lima, Mauro Birattari
Published in: Swarm and Evolutionary Computation, Issue 22106502, 2022, ISSN 2210-6502
Publisher: Elsevier BV
DOI: 10.1016/j.swevo.2022.101118

AutoMoDe: A Modular Approach to the Automatic Off-Line Design and Fine-Tuning of Control Software for Robot Swarms

Author(s): Mauro Birattari, Antoine Ligot, Gianpiero Francesca
Published in: Automated Design of Machine Learning and Search Algorithms, 2021
Publisher: Springer
DOI: 10.1007/978-3-030-72069-8_5

Evaluation of Alternative Exploration Schemes in the Automatic Modular Design of Robot Swarms

Author(s): Gaëtan Spaey, Miquel Kegeleirs, David Garzón Ramos, Mauro Birattari
Published in: BNAIC 2019, BENELEARN 2019: Artificial Intelligence and Machine Learning, 2020, Page(s) 18-33
Publisher: Springer
DOI: 10.1007/978-3-030-65154-1_2

AutoMoDe-IcePop: Automatic Modular Design of Control Software for Robot Swarms Using Simulated Annealing

Author(s): Jonas Kuckling, Keneth Ubeda Arriaza, Mauro Birattari
Published in: BNAIC 2019, BENELEARN 2019: Artificial Intelligence and Machine Learning, 2020, Page(s) 3–17
Publisher: Springer
DOI: 10.1007/978-3-030-65154-1_1

Complexity Measures in Automatic Design of Robot Swarms: An Exploratory Study

Author(s): Andrea Roli, Antoine Ligot, Mauro Birattari
Published in: Artificial Life and Evolutionary Computation, 2018, Page(s) 243-256, ISBN 978-3-319-78657-5
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-78658-2_18

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