Seminar Swarm Robotics

Seminar Swarm Robotics

 If you are interested to attend the seminar, please come to the first meeting 10.04.2019 9:15 in the swarmLab (G29-035).

In case there are more students than available topics, there will be a selection process. You do not have to write us emails before the first meeting to register.

Both students of the master- and the bachelor seminar are required to participate in all the seminar dates. Make sure that you can attend the seminar 9:15 to 12:15.


You can download the slides for there first meeting here.

How to give a technical talk

How to write a paper



  • Topic 1: Tasks of Swarm Robotics (SR)
    • 1a Bachelor: Overview
    • 1b Master: Foraging in Swarm Robotics
      • Sahin, E. (2005). Swarm Robotics: From Sources of Inspiration to Domains of Application.
      • Bayindir, L. (2016). A review of swarm robotics tasks. Neurocomputing, 172, 292321.

      • Font Llenas, A., Talamali, M. S., Xu, X., Marshall, J. A. R., & Reina, A. (2018). Quality-sensitive foraging by a robot swarm through virtual pheromone trails.

      • Khaldi, B., & Cherif, F. (2015). An Overview of Swarm Robotics: Swarm Intelligence Applied to Multi-robotics. International Journal of Computer Applications, 126(2), 3137.


  • Topic 2: Localisation in SR
    • 2a: Localization Algorithms in SR
    • 2b: Pattern Formation in SR
      • Coppola, M., Guo, J., Gill, E., & de Croon, G. C. H. E. (2019). Provable self-organizing pattern formation by a swarm of robots with limited knowledge.

      • Ma, D., Er, M. J., & Wang, B. (2010). Analysis of hop-count-based source-to-destination distance estimation in wireless sensor networks with applications in localization. IEEE Transactions on Vehicular Technology, 59(6), 29983011.

      • Rubenstein, M., Cornejo, A., & Nagpal, R. (2014). Programmable self-assembly in a thousand-robot swarm. Science, 345(6198), 795-799.


  • Topic 3: Path Planning in Multi-Agent Systems
    • 3a: Collision Avoidance
    • 3b: Cooperative Path Planning in Multi-Agent Systems
      • Cao, C., Trautman, P., & Iba, S. (2019). Dynamic Channel: A Planning Framework for Crowd Navigation.

      • Wang, Q., Fang, H., Chen, J., Mao, Y., & Dou, L. (2012). Flocking with obstacle avoidance and connectivity maintenance in multi-agent systems. In Proceedings of the IEEE Conference on Decision and Control (pp. 40094014).

      • Desaraju, V. R., & How, J. P. (2011). Decentralized path planning for multi-agent teams in complex environments using rapidly-exploring random trees. Proceedings - IEEE International Conference on Robotics and Automation, (May), 49564961.


  • Topic 4: Communication in Swarm Robotics
    • 4a: Communication in SR
    • 4b: Indirect communication and Stigmergy in SR
      • Font Llenas, A., Talamali, M. S., Xu, X., Marshall, J. A. R., & Reina, A. (2018). Quality-sensitive foraging by a robot swarm through virtual pheromone trails.
      • Hecker, J. P., & Moses, M. E. (2015). Beyond pheromones: evolving error-tolerant, flexible, and scalable ant-inspired robot swarms. Swarm Intelligence, 9(1), 4370.

      • Navarro, I., & Matía, F. (2013). An Introduction to Swarm Robotics. ISRN Robotics, 2013, 110.


  • Topic 5: Collective search
    • 5a Bachelor: Collective Search algorithms
    • 5b Master: Signal Source localization
      • Hereford, J., & Siebold, M. (2008). Multi-robot search using a physically-embedded Particle Swarm Optimization. International Journal of Computational Intelligence Research, 4(2).

      • Zhang, Y., Ma, X., & Miao, Y. (2011). Localization of multiple odor sources using modified glowworm swarm optimization with collective robots. Proceedings of the 30th Chinese Control Conference.
      • Senanayake, M., Senthooran, I., Barca, J. C., Chung, H., Kamruzzaman, J., & Murshed, M. (2016). Search and tracking algorithms for swarms of robots: A survey. Robotics and Autonomous Systems, 75, 422434.


  • Topic 6: Collaborative Manipulation
    • Not Assigned: Object transportation in SR (in homogeneous swarms)
    • Not Assigned: Collaborative object detection and transportation (in heterogenous swarms)
      • Rubenstein, M., Cabrera, A., Werfel, J., & Habibi, G. (2013). Collective transport of complex objects by simple robots.
      • Mondada, F., Gambardella, L. M., Floreano, D., Nolfi, S., Deneubourg, J. L., & Dorigo, M. (2005). The cooperation of swarm-bots: Physical interactions in collective robotics. IEEE Robotics and Automation Magazine, 12(2), 2128.


  • Topic 7: Evolutionary Robotics
    • 7a Bachelor: Overview Evolutionary Robotics
      • Francesca, G., Brambilla, M., Brutschy, A., Trianni, V., & Birattari, M. (2014). AutoMoDe: A novel approach to the automatic design of control software for robot swarms. Swarm Intelligence, 8(2), 89112.

      • Mukhlish, F., Page, J., & Bain, M. (2018). Evolutionary-learning framework: improving automatic swarm robotics design. International Journal of Intelligent Unmanned Systems, 6(4), 197215.

      • Floreano, D., Husbands, P., & Nolfi, S. (2008). Evolutionary robotics. Springer handbook of robotics, 1423-1451.
    • 7b Master: Collective Decision Making in SR
      • Valentini, G., Ferrante, E., Hamann, H., & Dorigo, M. (2016). Collective decision with 100 Kilobots: speed versus accuracy in binary discrimination problems. Autonomous Agents and Multi-Agent Systems, 30(3), 553580.
      • Hamann, H. (2013). Towards swarm calculus: Urn models of collective decisions and universal properties of swarm performance. Swarm Intelligence, 7(23), 145172.






Initial Meeting. You should attend this meeting, if you want to take part in this seminar.

Organization, Topics


Deadline for submission of Motivations


Fixing topics, Some remarks on scientific writing and how to give a talk


Presentation Day 1 - Topic 1, 2a


Deadline for submission of written report 


Presentation Day  2 - Topic 2b, 3


Presentation Day  3 - Topic 4, 7a


Deadline for review submission


Presentation Day  4 - Topic 5, 7b


Deadline for submission of the final report

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