Titlebook: Distributed Autonomous Robotic Systems; 16th International S Julien Bourgeois,Jamie Paik,Abdallah Makhoul Conference proceedings 2024 The E

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,Outlining the Design Space of eXplainable Swarm (xSwarm): Experts’ Perspective, explainability requirements in swarm robotics, i.e., what kind of questions an explainable swarm is expected to answer, and what types of explanations a swarm is expected to generate. By surveying 26 swarm experts, we seek to answer these questions and identify challenges experts faced to generate

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,VMAS: A Vectorized Multi-agent Simulator for Collective Robot Learning,o OpenAI MPE, we show how MPE’s execution time increases linearly in the number of simulations while VMAS is able to execute 30,000 parallel simulations in under 10 s, proving more than 100. faster. Using VMAS’s RLlib interface, we benchmark our multi-robot scenarios using various Proximal Policy Op

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,Sparse Sensing in Ergodic Optimization,hile adhering to limited sensing measurements. Multi-agent examples demonstrate the capability of our approach to automatically distribute sensor resources across the team. Further comparisons show comparable performance with the continuous relaxation of the mixed-integer program while reducing comp

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,A Distributed Architecture for Onboard Tightly-Coupled Estimation and Predictive Control of Micro Aitecture while satisfying numerous constraints, but also indicate that it is possible to achieve full navigation and coordination autonomy in presence of severe resource constraints as those characterizing micro aerial vehicles.

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,DGORL: Distributed Graph Optimization Based Relative Localization of Multi-robot Systems,o graph optimization as a distributed solver over dynamic networks. Finally, we theoretically analyze the algorithm and numerically validate its optimality and performance through extensive simulations. The results demonstrate the practicality of the proposed solution compared to a state-of-the-art

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