ROBOtic Replicants for Optimizing the Yield by Augmenting Living Ecosystems

Project Information

RoboRoyale

Grant agreement ID: 964492

DOI

10.3030/964492

EC signature date 20 January 2021

Start date 1 November 2021

End date 31 October 2026

Funded under

• EXCELLENT SCIENCE - Future and Emerging Technologies (FET)

Total cost

€ 3 269 938,75

EU contribution

€ 3 269 938,75

Coordinated by

UNIVERSITY OF DURHAM
United Kingdom

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 (4)

Specification and evaluation of robot prototypes
Dissemination, communication and exploitation plans

Dissemination communication and exploitation plans

Report on Seminar 2 & Workshop 2: Modeling of biohybrid entities
Report on Seminar 1 & Workshop 1: Robot-bees interaction and impacts

Websites, patent fillings, videos etc. (1)

Establishing public online presence

Open Research Data Pilot (1)

Data and code management plans

Publications

Peer reviewed articles (14)

Swarm flocking using optimisation for a self-organised collective motion

Author(s): Bahaidarah, M., Rekabi-Bana, F., Marjanovic, O., Arvin, F.
Published in: Swarm and Evolutionary Computation, Issue 86, 2024, ISSN 2210-6502
Publisher: Elsevier BV
DOI: 10.1016/j.swevo.2024.101491

Autonomous tracking of honey bee behaviors over long-term periods with cooperating robots

Author(s): Jiří Ulrich, Martin Stefanec, Fatemeh Rekabi-Bana, Laurenz Alexander Fedotoff, Tomáš Rouček, Bilal Yağız Gündeğer, Mahmood Saadat, Jan Blaha, Jiří Janota, Daniel Nicolas Hofstadler, Kristin
Published in: Science Robotics, Issue 9, 2024, ISSN 2470-9476
Publisher: American Association for the Advancement of Science (AAAS)
DOI: 10.1126/scirobotics.adn6848

Robust formation control for networked robotic systems using Negative Imaginary dynamics

Author(s): Junyan Hu, Barry Lennox, Farshad Arvin
Published in: Automatica, Issue 140,June 2022, 2022, Page(s) 110235, ISSN 0005-1098
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2022.110235

Fault-tolerant cooperative navigation of networked UAV swarms for forest fire monitoring

Author(s): Junyan Hu, Hanlin Niu, Joaquin Carrasco, Barry Lennox, Farshad Arvin
Published in: Aerospace Science and Technology, Issue 123, 2022, Page(s) 107494, ISSN 1270-9638
Publisher: Elsevier BV
DOI: 10.1016/j.ast.2022.107494

On the movement of the honeybee queen in the hive

Author(s): Jan Blaha, Martin Stefanec, Jiří Janota, Daniel Nicolas Hofstadler, Tomáš Rouček, Jiří Ulrich, Laurenz Alexander Fedotoff, George Broughton, Tomáš Vintr, Farshad Arvin, Thomas Schmickl, Tomá
Published in: Scientific Reports, Issue 15, 2025, ISSN 2045-2322
Publisher: Nature Publishing Group
DOI: 10.1038/s41598-025-07093-4

A Minimally Invasive Approach Towards “Ecosystem Hacking” With Honeybees

Author(s): Stefanec Martin, Hofstadler Daniel N., Krajník Tomáš, Turgut Ali Emre, Alemdar Hande, Lennox Barry, Şahin Erol, Arvin Farshad, Schmickl Thomas
Published in: Frontiers in Robotics and Ai, Issue 9, 28 April 2022, 2022, Page(s) 791921., ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2022.791921

Real time fiducial marker localisation system with full 6 DOF pose estimation

Author(s): Ulrich, J., Alsayed, A., Arvin, F., Krajnik, T.
Published in: ACM SIGAPP Applied Computing Review, 2023, ISSN 1559-6915
Publisher: ACM
DOI: 10.1145/3594264.3594266

Bio-inspired Collision Avoidance in Swarm Systems via Deep Reinforcement Learning

Author(s): Seongin Na, Hanlin Niu, Barry Lennox, Farshad Arvin
Published in: IEEE Transactions on Vehicular Technology, Issue 71(3), March 2022, 2022, Page(s) 2511-2526, ISSN 0018-9545
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tvt.2022.3145346

Federated Reinforcement Learning for Collective Navigation of Robotic Swarms

Author(s): Seongin Na Tomáš Rouček Jiří Ulrich Jan Pikman Tomáš Krajník Barry Lennox Farshad Arvin
Published in: IEEE Transactions on Cognitive and Developmental Systems, 2023, ISSN 2379-8939
Publisher: IEEE
DOI: 10.1109/tcds.2023.3239815

Unified Robust Path Planning and Optimal Trajectory Generation for Efficient 3D Area Coverage of Quadrotor UAVs

Author(s): Rekabi-Bana, F., Hu, J., Krajník, T., Arvin, F.
Published in: IEEE Transactions on Intelligent Transportation Systems, Issue 25(3), 2023, Page(s) 2492-2507, ISSN 1558-0016
Publisher: IEEE
DOI: 10.1109/tits.2023.3320049

Robust Vibration Attenuation for Autonomous Robotic Observation Systems

Author(s): Fatemeh Rekabi-Bana, Mahmood Saadat, Martin Stefanec, Tomáš Vintr, Honghao Pan, Mohsen Zahmatkesh, Tomáš Krajník, Thomas Schmickl, Farshad Arvin
Published in: IFAC-PapersOnLine, Issue 59, 2025, Page(s) 251-256, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2025.10.172

Distributed collision-free bearing coordination of multi-UAV systems with actuator faults and time delays

Author(s): Wu, K., Hu, J., Li, Z., Ding, Z., Arvin, F.
Published in: IEEE Transactions on Intelligent Transportation Systems, 2024, ISSN 1558-0016
Publisher: IEEE
DOI: 10.1109/tits.2024.3364356

Animal–robot interaction—an emerging field at the intersection of biology and robotics

Author(s): Donato Romano, Maurizio Porfiri, Payam Zahadat, Thomas Schmickl
Published in: Bioinspiration & Biomimetics, Issue 19, 2024, Page(s) 020201, ISSN 1748-3182
Publisher: Institute of Physics Publishing
DOI: 10.1088/1748-3190/ad2086

Evolutionary optimization for risk-aware heterogeneous multi-agent path planning in uncertain environments

Author(s): Fatemeh Rekabi Bana, Tomáš Krajník, Farshad Arvin
Published in: Frontiers in Robotics and AI, Issue 11, 2024, ISSN 2296-9144
Publisher: Frontiers Media SA
DOI: 10.3389/frobt.2024.1375393

Conference proceedings (14)

A Vision-based System for Social Insect Tracking

Author(s): Kristi Žampachů, Jiří Ulrich, Tomáš Rouček, Martin Stefanec, Dominik Dvořáček, Laurenz Fedotoff, Daniel Nicolas Hofstadler, Fatemeh Rekabi-Bana, George Broughton, Farshad Arvin, Thomas Schmi
Published in: 2022 2nd International Conference on Robotics, Automation and Artificial Intelligence (RAAI), 2024, Page(s) 277-283
Publisher: IEEE
DOI: 10.1109/raai56146.2022.10092977

Morphing Swarm Coordination for Autonomous Queen Tracking in Complex Hive Environments

Author(s): Mazen Bahaidarah, Mohsen Zahmatkesh, Hang Wang, Ognjen Marjanovic, Fatemeh Rekabi-Bana, Ali Emre Turgut, Farshad Arvin
Published in: 2025 IEEE International Conference on Mechatronics and Automation (ICMA), 2025, Page(s) 688-693
Publisher: IEEE
DOI: 10.1109/icma65362.2025.11120808

Self-supervised learning for fusion of IR and RGB images in visual teach and repeat navigation

Author(s): Liu, X., Rozsypalek, Z., Krajnik, T.
Published in: European Conference on Mobile Robots, 2023
Publisher: ECMR
DOI: 10.1109/ecmr59166.2023.10256333

Toward Perpetual Occlusion-Aware Observation of Comb States in Living Honeybee Colonies

Author(s): Jan Blaha, Tomáš Vintr, Jan Mikula, Jiří Janota, Tomáš Rouĉek, Jiří Ulrich, Fatemeh Rekabi-Bana, Laurenz Alexander Fedotoff, Martin Stefanec, Thomas Schmickl, Farshad Arvin, Miroslav Kulich,
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, Page(s) 5948-5955
Publisher: IEEE
DOI: 10.1109/iros58592.2024.10801380

Effective Searching for the Honeybee Queen in a Living Colony

Author(s): Jan Blaha, Jan Mikula, Tomáš Vintr, Jiří Janota, Jiří Ulrich, Tomáš Rouček, Fatemeh Rekabi-Bana, Laurenz Alexander Fedotoff, Martin Stefanec, Thomas Schmickl, Farshad Arvin, Miroslav Kulich,
Published in: 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024, Page(s) 3675-3682
Publisher: IEEE
DOI: 10.1109/case59546.2024.10711366

Towards Robotic Mapping of a Honeybee Comb

Author(s): Jiří Janota, Jan Blaha, Fatemeh Rekabi-Bana, Jiří Ulrich, Martin Stefanec, Laurenz Fedotoff, Farshad Arvin, Thomas Schmickl, Tomáš Krajník
Published in: 2024 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), 2024, Page(s) 1-6
Publisher: IEEE
DOI: 10.1109/marss61851.2024.10612712

Towards an Embodied Biohybrid Robotic Platform for Interaction with Honeybees

Author(s): Hang Wang, Mohsen Zahmatkesh, Martin Stefanec, Ali Emre Turgut, Jiri Ulrich, Tomas Krajnik, Farshad Arvin
Published in: 2025 IEEE International Conference on Mechatronics and Automation (ICMA), 2025, Page(s) 322-327
Publisher: IEEE
DOI: 10.1109/icma65362.2025.11120734

The Queen and her Robotic Court: A Minimally-Invasive Form of Ecosystem Hacking

Author(s): Thomas Schmickl, Martin Stefanec, Daniel Niclas Hofstadler, Tomas Krajnik, Ali Emre Turgut, Farshad Arvin
Published in: The 5th Annual Science Fiction Prototyping Conference (SciFi-It'2021), Issue April 14-16, 2021, 2021
Publisher: EUROSIS-ETI

Towards fast fiducial marker with full 6 DOF pose estimation

Author(s): Jiří Ulrich, Ahmad Alsayed, Farshad Arvin, Tomáš Krajník
Published in: ACM Symposium on Applied Computing, Issue April 2022, 2022
Publisher: ACM
DOI: 10.1145/3477314.3507043

Active Vibration Reduction for the Autonomous Observation Mechanism

Author(s): Fatemeh Rekabi-Bana, Mahmood Saadat, Nahid Kalantaryardebily, Martin Stefanec, Laurenz A. Fedotoff, Honghao Pan, Tomáš Krajník, Thomas Schmickl, Farshad Arvin
Published in: 2024 IEEE Conference on Control Technology and Applications (CCTA), 2024, Page(s) 805-810
Publisher: IEEE
DOI: 10.1109/ccta60707.2024.10666576

Robotic Replicants for Improving Queen Bee Health and Persistence of the Honey Bee Colony

Author(s): Hande Alemdar, Okan Can Arslan, Farshad Arvin, Georgre Broughton, Dominik Dvořáček, Babür Erdem, Oğuz Gödelek, Bilal Yağız Güderer, Mustafa Yavuz Kara, Erhan Ege Keyvan, Tomáš Krajník, Fatemeh Rekabi Bana, Tomáš Rouček, Erol Şahin, Thomas Schmickl, Martin Stefanec, Muhammad Suleman, Ali Emre Turgut, Jiří Ulrich, Kristi Žampachů
Published in: 47th Apimondia Congress, Issue 24 - 28 August 2022, 2022
Publisher: apimondia

Distributed bearing-only formation control for heterogeneous nonlinear multi-robot systems

Author(s): Wu, K., Hu, J., Ding, Z., Arvin, F.
Published in: IFAC-PapersOnLine, Issue 56(2), 2023, Page(s) 3447-3452, ISSN 2405-8963
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2023.10.1496

Mechatronic design for multi robots-insect swarms interactions

Author(s): Rekabi-Bana, F., Stefanec, M., Ulrich, J., Keyvan, E. E., Rouček, T., Broughton, G., Gündeǧer, B. Y., Sahin, Ö., Turgut, A. E., Şahin, E., Krajník, T., Schmickl, T., Arvin, F.
Published in: IEEE International Conference on Mechatronics, 2023
Publisher: IEEE
DOI: 10.1109/icm54990.2023.10102026

Decentralized Multi-Agent Coverage Path Planning with Greedy Entropy Maximization

Author(s): Kale Champagnie, Farshad Arvin, Junyan Hu
Published in: 2024 IEEE International Conference on Industrial Technology (ICIT), 2024, Page(s) 1-6
Publisher: IEEE
DOI: 10.1109/icit58233.2024.10540869

Thesis and dissertations (6)

Visual analysis of beehive queen behaviour

Author(s): Kristi Zampachu
Published in: 2022
Publisher: CVUT

Analysis of the Honeybee Queen Cell Inspection Behavior using Machine Learning-Enhanced Data Labeling

Author(s): Benjamin Hirschbok
Published in: 2025
Publisher: UNI GRAZ ONLINE

Classifying the Queen's Behavior: A Data-Driven and CNN-Based Approach to Analyzing the Honey Bee Queen's Oviposition Behavior

Author(s): Laurenz Alexander Fedotoff
Published in: 2025
Publisher: UNI GRAZ ONLINE

Automatic analysis of worker bee behavior in the vicinity of the honeybee queen

Author(s): Dominik Dvoracek
Published in: 2022
Publisher: CVUT

Fiducial marker-based multiple camera localisation system

Author(s): Jiri Ulrich
Published in: 2022
Publisher: CVUT

Seasonal Dynamics in Honeybee Queen Feeding Behavior

Author(s): Koller, Nicole
Published in: 2025
Publisher: UNI GRAZ ONLINE