I am thrilled to announce that our paper, “A Field-based Approach for Runtime Replanning in Swarm Robotics Missions”, won the Best Student Paper Award at ACSOS 2025!
In this work, we tackle the challenge of ensuring mission success for multi-robot systems in unpredictable environments. We propose a field-based runtime task replanning approach grounded in aggregate programming. This allows robots to make decentralized decisions and collectively adapt plans in real-time, even in areas with unreliable network infrastructure.
Our experiments show that this approach performs close to an oracle centralized planner and significantly outperforms baselines under sparse communication conditions.
You can read the full paper here:
https://ieeexplore.ieee.org/document/11217849
Authors
- Gianluca Aguzzi, Department of Computer Science and Engineering, University of Bologna, Cesena, Italy
- Martina Baiardi, Department of Computer Science and Engineering, University of Bologna, Cesena, Italy
- Angela Cortecchia, Department of Computer Science and Engineering, University of Bologna, Cesena, Italy
- Branko Miloradovic, Department of Electrical and Computer Engineering, Mälardalen University, Mälardalen, Sweden
- Alessandro Papadopoulos, Department of Electrical and Computer Engineering, Mälardalen University, Mälardalen, Sweden
- Danilo Pianini, Department of Computer Science and Engineering, University of Bologna, Cesena, Italy
- Mirko Viroli, Department of Computer Science and Engineering, University of Bologna, Cesena, Italy