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{{Short description|Coordination of multiple robots as a system}}
{{essay-like|date=May 2016}}
[[File:RechargingSwarm.jpg|thumb|right|Swarm of [[open-source]] Jasmine micro-robots recharging themselves]]
[[Image:IRobot Create team.jpg|thumb|right|A team of [[iRobot Create]] [[robot]]s at the [[Georgia Institute of Technology]]]]
{{Multi-agent system}}
'''Swarm robotics''' is
Relatively simple individual rules can produce a large set of complex [[Swarm behaviour|swarm behaviors]]. A key component is the communication between the members of the group that build a system of constant feedback. The swarm behavior involves constant change of individuals in cooperation with others, as well as the behavior of the whole group.
== Key Attributes of Robotic Swarms ==
The design of swarm robotics systems is guided by swarm intelligence principles, which promote fault tolerance, scalability, and flexibility.
# Robots are autonomous.
# Robots can interact with the surroundings and give feedback to modify the environment.
# Robots possess local perceiving and communicating capabilities, such as [[wireless]] transmission systems, like [[radio frequency]] or [[infrared]].<ref>{{Citation |title=Architectures and Control of Networked Robotic Systems |date=2013-05-29 |work=Handbook of Collective Robotics |pages=105–128 |editor-last=Kernbach |editor-first=Serge |url=https://www.taylorfrancis.com/books/9789814364119/chapters/10.1201/b14908-6 |access-date=2024-12-04 |edition=0 |publisher=Jenny Stanford Publishing |language=en |doi=10.1201/b14908-6 |isbn=978-0-429-06759-4|url-access=subscription }}</ref>
# Robots do not exploit centralized swarm control or global knowledge.
# Robots cooperate with each other to accomplish the given task.<ref>{{Cite journal |last1=Brambilla |first1=Manuele |last2=Ferrante |first2=Eliseo |last3=Birattari |first3=Mauro |last4=Dorigo |first4=Marco |date=17 January 2013 |title=Swarm robotics: a review from the swarm engineering perspective |url=http://link.springer.com/10.1007/s11721-012-0075-2 |journal=Swarm Intelligence |language=en |volume=7 |issue=1 |pages=1–41 |doi=10.1007/s11721-012-0075-2 |hdl=2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/153305 |issn=1935-3812|hdl-access=free }}</ref>
</blockquote>Miniaturization is also key factor in swarm robotics, as the effect of thousands of small robots can maximize the effect of the swarm-intelligent approach to achieve meaningful behavior at swarm-level through a greater number of interactions on an individual level.<ref name=":1">{{Cite journal |last1=Dorigo |first1=Marco |last2=Theraulaz |first2=Guy |last3=Trianni |first3=Vito |date=18 June 2021 |title=Swarm Robotics: Past, Present, and Future [Point of View] |journal=Proceedings of the IEEE |volume=109 |issue=7 |pages=1152–1165 |doi=10.1109/JPROC.2021.3072740 |issn=0018-9219|hdl=2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/326716 |hdl-access=free }}</ref>
Compared with individual robots, a swarm can commonly decompose its given missions to their subtasks;<ref
▲The design of swarm robotics systems is guided by swarm intelligence principles, which promote fault tolerance, scalability, and flexibility.[http://www.scholarpedia.org/article/Swarm_robotics] While various formulations of swarm intelligence principles exist, one widely recognized set includes:
== History ==
The phrase "swarm robotics" was reported to make its first appearance in 1991 according to Google Scholar, but research regarding swarm robotics began to grow in early 2000s. The initial goal of studying swarm robotics was to test whether the concept of [[stigmergy]] could be used as a method for robots to indirectly communication and coordinate with each other.<ref name=":1" />
One of the first international projects regarding swarm robotics was the SWARM-BOTS project funded by the European Commission between 2001 and 2005, in which a swarm of up to 20 of robots capable of independently physically connect to each other to form a cooperating system were used to study swarm behaviors such as collective transport, area coverage, and searching for objects. The result was demonstration of self-organized teams of robots that cooperate to solve a complex task, with the robots in the swarm taking different roles over time. This work was then expanded upon through the Swarmanoid project (2006–2010), which extended the ideas and algorithms developed in Swarm-bots to heterogeneous robot swarms composed of three types of robots—flying, climbing, and ground-based—that collaborated to carry out a search and retrieval task.<ref name=":1" />
▲Compared with individual robots, a swarm can commonly decompose its given missions to their subtasks;<ref name="ijrnc">{{cite journal |last1=Hu |first1=J. |last2=Bhowmick |first2=P. |last3=Lanzon |first3=A. |date=2020 |title=Two-layer distributed formation-containment control strategy for linear swarm systems: Algorithm and experiments |journal=International Journal of Robust and Nonlinear Control |volume=30 |issue=16 |pages=6433–6453 |doi=10.1002/rnc.5105 |doi-access=free}}</ref> a swarm is more robust to partial failure and is more flexible with regard to different missions.<ref>{{cite book |last1=Kagan |first1=E. |url=https://books.google.com/books?id=yuSrDwAAQBAJ |title=Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication, and Swarming |last2=Shvalb |first2=N. |last3=Gal |first3=I. |publisher=John Wiley and Sons |year=2019 |isbn=9781119212867}}</ref>
== Applications ==
=== Drone swarms ===
[[File:3 1절 100주년 기념 100대 드론 군집비행 (4) (1155).png|thumb|300x300px|A 100 drone swarm flight commemorating the 100th anniversary of [[Korean independence movement]] by the [[Korea Aerospace Research Institute]]]]
Drone swarms are used in target search, [[drone display]]s, and delivery. A drone display commonly uses multiple, lighted drones at night for an artistic display or advertising. A delivery drone swarm
Drone swarming can also
=== Military swarms ===
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=== Miniature swarms ===
Another large set of applications may be solved using swarms of [[micro air vehicle]]s, which are also broadly investigated nowadays. In comparison with the pioneering studies of swarms of flying robots using precise [[motion capture]] systems in laboratory conditions,<ref>Kushleyev, A.; Mellinger, D.; Powers, C.; Kumar, V., "[https://pdfs.semanticscholar.org/b063/239bd450038531eeb2db5466eaed34a0f9a0.pdf Towards a swarm of agile micro quadrotors]" Autonomous Robots, Volume 35, Issue 4, pp 287-300, November 2013</ref> current systems such as [[Shooting Star (drone)|Shooting Star]] can control teams of hundreds of micro aerial vehicles in outdoor environment<ref>Vasarhelyi, G.; Virágh, C.; Tarcai, N.; Somorjai, G.; Vicsek, T. [https://arxiv.org/abs/1402.3588 Outdoor flocking and formation flight with autonomous aerial robots]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 2014</ref> using [[Satellite navigation|GNSS]] systems (such as GPS) or even stabilize them using onboard [[robot localization|localization]] systems<ref>Faigl, J.; Krajnik, T.; Chudoba, J.; Preucil, L.; Saska, M. [http://eprints.lincoln.ac.uk/13799/1/__ddat02_staffhome_jpartridge_camera_2013_ICRA.pdf Low-Cost Embedded System for Relative Localization in Robotic Swarms]. In ICRA2013: Proceedings of 2013 IEEE International Conference on Robotics and Automation. 2013.</ref> where GPS is unavailable.<ref>Saska, M.; Vakula, J.; Preucil, L. [https://ieeexplore.ieee.org/abstract/document/6907374/ Swarms of Micro Aerial Vehicles Stabilized Under a Visual Relative Localization]. In ICRA2014: Proceedings of 2014 IEEE International Conference on Robotics and Automation. 2014.</ref><ref>Saska, M. [https://www.researchgate.net/profile/Martin_Saska/publication/282922149_MAV-swarms_Unmanned_aerial_vehicles_stabilized_along_a_given_path_using_onboard_relative_localization/links/5684f75b08ae19758394dcdf.pdf MAV-swarms: unmanned aerial vehicles stabilized along a given path using onboard relative localization]. In Proceedings of 2015 International Conference on Unmanned Aircraft Systems (ICUAS). 2015</ref> Swarms of micro aerial vehicles have been already tested in tasks of autonomous surveillance,<ref>Saska, M.; Chudoba, J.; Preucil, L.; Thomas, J.; Loianno, G.; Tresnak, A.; Vonasek, V.; Kumar, V. [https://ieeexplore.ieee.org/abstract/document/6842301/ Autonomous Deployment of Swarms of Micro-Aerial Vehicles in Cooperative Surveillance]. In Proceedings of 2014 International Conference on Unmanned Aircraft Systems (ICUAS). 2014.</ref> plume tracking,<ref>Saska, M.; Langr J.; L. Preucil. [https://www.researchgate.net/profile/Martin_Saska/publication/290558108_Plume_Tracking_by_a_Self-stabilized_Group_of_Micro_Aerial_Vehicles/links/57040e7908ae74a08e245eeb.pdf Plume Tracking by a Self-stabilized Group of Micro Aerial Vehicles]. In Modelling and Simulation for Autonomous Systems, 2014.</ref> and reconnaissance in a compact phalanx.<ref>Saska, M.; Kasl, Z.; Preucil, L. [http://www.nt.ntnu.no/users/skoge/prost/proceedings/ifac2014/media/files/2295.pdf Motion Planning and Control of Formations of Micro Aerial Vehicles]. In Proceedings of the 19th World Congress of the International Federation of Automatic Control. 2014.</ref> Numerous works on cooperative swarms of unmanned ground and aerial vehicles have been conducted with target applications of cooperative environment monitoring,<ref>Saska, M.; Vonasek, V.; Krajnik, T.; Preucil, L. [http://labe.felk.cvut.cz/~tkrajnik/ardrone/articles/formace.pdf Coordination and Navigation of Heterogeneous UAVs-UGVs Teams Localized by a Hawk-Eye Approach] {{Webarchive|url=https://web.archive.org/web/20170810054531/http://labe.felk.cvut.cz/~tkrajnik/ardrone/articles/formace.pdf |date=2017-08-10 }}. In Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2012.</ref> [[simultaneous localization and mapping]],<ref>Chung, Soon-Jo, et al. "[https://authors.library.caltech.edu/87925/1/tro-aerial-robotics_final.pdf A survey on aerial swarm robotics]." IEEE Transactions on Robotics 34.4 (2018): 837-855.</ref> convoy protection,<ref>Saska, M.; Vonasek, V.; Krajnik, T.; Preucil, L. [http://eprints.lincoln.ac.uk/14891/1/formations_2014_IJRR.pdf Coordination and Navigation of Heterogeneous MAV–UGV Formations Localized by a ‘hawk-eye’-like Approach Under a Model Predictive Control Scheme]. International Journal of Robotics Research 33(10):1393–1412, September 2014.</ref> and moving target localization and tracking.<ref>{{cite journal | url=https://link.springer.com/article/10.1007/s10846-011-9581-5 | doi=10.1007/s10846-011-9581-5 | title=A Robust Mobile Target Localization Method for Cooperative Unmanned Aerial Vehicles Using Sensor Fusion Quality | date=2012 | last1=Kwon | first1=Hyukseong | last2=Pack | first2=Daniel J. | journal=Journal of Intelligent & Robotic Systems | volume=65 | issue=1–4 | pages=479–493 | s2cid=254656907 | url-access=subscription }}</ref>
==== Acoustic swarms ====
In 2023, University of Washington and Microsoft researchers demonstrated acoustic swarms of tiny robots that create shape-changing smart speakers.<ref>{{Cite journal |last1=Itani |first1=Malek |last2=Chen |first2=Tuochao |last3=Yoshioka |first3=Takuya |last4=Gollakota |first4=Shyamnath |date=2023-09-21 |title=Creating speech zones with self-distributing acoustic swarms |journal=Nature Communications |language=en |volume=14 |issue=1 |pages=5684 |bibcode=2023NatCo..14.5684I |doi=10.1038/s41467-023-40869-8 |issn=2041-1723 |pmc=10514314 |pmid=37735445 |doi-access=free}}</ref> These can be used for manipulating acoustic scenes to focus on or mute sounds from a specific region in a room.<ref>{{Cite web |title=UW team's shape-changing smart speaker lets users mute different areas of a room |url=https://www.washington.edu/news/2023/09/21/shape-changing-smart-speaker-ai-noise-canceling-alexa-robot/ |access-date=2023-09-21 |website=UW News |language=en}}</ref> Here, tiny robots cooperate with each other using sound signals, without any cameras, to navigate cooperatively with centimeter-level accuracy. These swarm devices spread out across a surface to create a distributed and reconfigurable wireless microphone array. They also navigate back to the charging station where they can be automatically recharged.<ref>{{Cite web |title=Creating Speech Zones Using Self-distributing Acoustic Swarms |url=https://acousticswarm.cs.washington.edu/ |access-date=2023-09-21 |website=acousticswarm.cs.washington.edu}}</ref>
==== Kilobot ====
One example of miniaturization is the LIBOT Robotic System<ref>{{citation |last1=Zahugi |first1=Emaad Mohamed H. |title=2012 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER) |pages=342–347 |year=2012 |chapter=Libot: Design of a low cost mobile robot for outdoor swarm robotics |doi=10.1109/CYBER.2012.6392577 |isbn=978-1-4673-1421-3 |s2cid=14692473 |last2=Shabani |first2=Ahmed M. |last3=Prasad |first3=T. V.}}</ref> that involves a low cost robot built for outdoor swarm robotics. The robots are also made with provisions for indoor use via Wi-Fi, since the GPS sensors provide poor communication inside buildings. Another such attempt is the micro robot (Colias),<ref>Arvin, F.; Murray, J.C.; Licheng Shi; Chun Zhang; Shigang Yue, "[https://www.researchgate.net/profile/Farshad_Arvin/publication/271545281_Development_of_an_autonomous_micro_robot_for_swarm_robotics/links/55e4bad008aede0b57357ed4.pdf Development of an autonomous micro robot for swarm robotics]," 2014 IEEE International Conference on Mechatronics and Automation (ICMA), vol., no., pp.635,640, 3-6 Aug. 2014 doi: 10.1109/ICMA.2014.6885771</ref> built in the Computer Intelligence Lab at the [[University of Lincoln]], UK. This micro robot is built on a 4 cm circular chassis and is a low-cost and open platform for use in a variety of swarm robotics applications.▼
Most efforts have focused on relatively small groups of machines. However, a [[Kilobot]] swarm consisting of 1,024 individual robots was demonstrated by Harvard in 2014, the largest to date.<ref>{{cite web |date=14 August 2014 |title=A self-organizing thousand-robot swarm |url=http://www.seas.harvard.edu/news/2014/08/self-organizing-thousand-robot-swarm |access-date=16 August 2014 |work=Harvard}}</ref>
==== LIBOT ====
Another example of miniaturization is the LIBOT Robotic System<ref>{{citation |last1=Zahugi |first1=Emaad Mohamed H. |title=2012 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER) |pages=342–347 |year=2012 |chapter=Libot: Design of a low cost mobile robot for outdoor swarm robotics |doi=10.1109/CYBER.2012.6392577 |isbn=978-1-4673-1421-3 |s2cid=14692473 |last2=Shabani |first2=Ahmed M. |last3=Prasad |first3=T. V.}}</ref> that involves a low cost robot built for outdoor swarm robotics. The robots are also made with provisions for indoor use via Wi-Fi, since the GPS sensors provide poor communication inside buildings.
[[File:Swarm of Colias Robot.jpg|alt=A swarm of open source micro Colias robots|thumb|A swarm of open source micro Colias robots]]
==== Colias ====
▲
=== Manufacturing swarms ===
Additionally, progress has been made in the application of autonomous swarms in the field of manufacturing, known as [[swarm 3D printing]]. This is particularly useful for the production of large structures and components, where traditional [[3D printing]] is not able to be utilized due to hardware size constraints. Miniaturization and mass mobilization allows the manufacturing system to achieve [[scale invariance]], not limited in effective build volume. While in its early stage of development, swarm 3D printing is currently being commercialized by startup companies
== See also ==
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