In this paper, we present an approach to designing decentralized robot control policies that
mimic certain microscopic and macroscopic behaviors of ants performing collective transport …

Creating accurate models of stochastically self-assembling systems is a key step in
developing control strategies, centralized or distributed, for the self-assembly process. This …

Self-assembling robotic systems form a subclass of distributed robotic systems that
undertake the fundamental task of structure formation. These systems build desired target …

In this paper, we consider a system consisting of multiple floating robotic modules
performing self-assembly. Faithfully modeling such a system and its inter-module …

Robotic technology is advancing to the point where it will soon be feasible to deploy
massive populations, or swarms, of low-cost autonomous robots to collectively perform tasks …

In certain ant species, groups of ants work together to transport food and materials back to
their nests. In some cases, the group exhibits a leader-follower behavior in which a single …