Editing Swarm robotics (section)

=== 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 ====
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 ====
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.