Program

PROGRAM

Days: Tuesday, June 1st Wednesday, June 2nd Thursday, June 3rd Friday, June 4th

Tuesday, June 1st

View this program: with abstracts session overview talk overview

Chair:

10:30	Jiahe Chen, Yifang Liu, Adam Pacheck, Hadas Kress-Gazit, Nils Napp and Kirstin Petersen Errors in Collective Robotic Construction (abstract)
11:00	Austin K. Chen, Douglas G. Macharet, Daigo Shishika, George J. Pappas and Vijay Kumar Optimal Multi-Robot Perimeter Defense Using Flow Networks (abstract)
11:30	Guangyi Liu, Arash Amini, Martin Takac and Nader Motee Classification-Aware Path Planning of Network of Robots (abstract)

10:30-16:50 Session Dod1: DARS on-demand 1: Planning and Control

10:30	Hanlin Wang and Michael Rubenstein Generating Goal Configurations for Scalable Shape Formation in Robotic Swarms (abstract)
10:30	Nofar Menashe and Noa Agmon Leading a Swarm with Signals (abstract)
10:30	Kegan Strawn and Nora Ayanian Byzantine Fault Tolerant Consensus for Lifelong and Online Multi-Robot Pickup and Delivery (abstract)
10:30	Arjav Desai and Nathan Michael Decentralized Multi-Robot Planning in Dynamic 3D Workspaces (abstract)
10:30	Valerio Digani and Lorenzo Sabattini Optimized Direction Assignment in Roadmaps for Multi-AGV Systems Based on Transportation Flows (abstract)

10:30-16:50 Session Dod2: DARS on-demand 2: Modularity and Connectivity

10:30	Benoit Piranda and Julien Bourgeois Datom: a Deformable Modular Robot for Building Self-Reconfigurable Programmable Matter (abstract)
10:30	Michael Crosscombe and Jonathan Lawry The Impact of Network Connectivity on Collective Learning (abstract)
10:30	Jacopo Panerati, Benjamin Ramtoula, David St-Onge, Yanjun Cao, Marcel Kaufmann, Aidan Cowley, Lorenzo Sabattini and Giovanni Beltrame On the Communication Requirements of Decentralized Connectivity Control - a Field Experiment (abstract)
10:30	Pierre Thalamy, Benoît Piranda, André Naz and Julien Bourgeois Behavioral Simulations of Lattice Modular Robots with VisibleSim (abstract)
10:30	Elliott Hogg, David Harvey, Sabine Hauert and Arthur Richards Evolving Robust Supervisors for Robot Swarms in Uncertain Complex Environments (abstract)

10:30-16:50 Session Dod3: DARS on-demand 3: Localization

10:30	Anwar Ahmad Quraishi and Alcherio Martinoli Distributed Cooperative Localization with Efficient Pairwise Range Measurements (abstract)
10:30	Michiaki Hirayama, Alicja Wasik, Mitsuhiro Kamezaki and Alcherio Martinoli Robust Localization for Multi-Robot Formations: an Experimental Evaluation of an Extended GM-PHD Filter (abstract)
10:30	Ayan Dutta, O. Patrick Kreidl and Jason O'Kane Opportunistic Multi-Robot Environmental Sampling via Decentralized Markov Decision Processes (abstract)
10:30	R.A. Thivanka Perera, Chengzhi Yuan and Paolo Stegagno A PHD Filter Based Localization System for Robotic Swarms (abstract)

10:30-16:50 Session Dod4: DARS on-demand 4: Intelligence

10:30	Tanja Katharina Kaiser, Christine Lang, Florian Andreas Marwitz, Christian Charles, Sven Dreier, Julian Petzold, Max Ferdinand Hannawald, Marian Johannes Begemann and Heiko Hamann An Innate Motivation to Tidy Your Room: Online Onboard Evolution of Manipulation Behaviors in a Robot Swarm (abstract)
10:30	Takahiro Niwa, Kazuki Shibata and Tomohiko Jimbo Multi-Agent Reinforcement Learning and Individuality Analysis for Cooperative Transportation with Obstacle Removal (abstract)
10:30	Grace Diehl and Julie A. Adams Battery Variability Management for Swarms (abstract)
10:30	Guillaume Sartoretti, Ananya Rao and Howie Choset Spectral-Based Distributed Ergodic Coverage for Heterogeneous Multi-Agent Search (abstract)
10:30	Xueting Li, Sha Yi and Katia Sycara Multi-Agent Deception in Attack-Defense Stochastic Game (abstract)
10:30	Diptanil Chaudhuri, Hazhar Rahmani, Dylan Shell and Jason M. O'Kane Tractable Planning for Coordinated Story Capture: Sequential Stochastic Decoupling (abstract)

10:30-16:50 Session Sod1: SWARM on-demand 1: Engineering 1

10:30	Daniel Carrillo-Zapata, Ellie Cripps and Sabine Hauert Swarm Escape! : an Escape Room Experience to Engage the Public in Swarm Robotics (abstract)
10:30	Kohei Yamagishi and Tsuyoshi Suzuki Adaptive Self-Organization for Swarm Robot Applied to Crystal Growth (abstract)
10:30	Tetsuyuki Takahama and Setsuko Sakai Takahama Multimodal Optimization by Particle Swarm Optimization with Graph-Based Speciation Using Β-Relaxed Relative Neighborhood Graph (abstract)
10:30	Koki Asami, Yang Bai and Mikhail Svinin Dynamic Coverage of a Flood Area by Multiple Unmanned Aerial Vehicles (abstract)
10:30	Saar Cohen and Noa Agmon On the (Im)Possibility of Leading a Swarm to a Desired Consensus in Static and Dynamic Settings (abstract)
10:30	Kazuya Fujita, Zhiqin Guo and Toru Namerikawa Formation Tracking and Searching Control of Multiple Quadrotors (abstract)
10:30	Ismail Bilal Ünal, Zhiqin Guo and Toru Namerikawa Model-Based Event-Triggered Formation Control for Multi-Agent System with Estimator (abstract)
10:30	Sumeet Batra, John Klingner and Nikolaus Correll Augmented Reality for Human-Swarm Interaction in a Swarm-Robotic Chemistry Simulation (abstract)
10:30	Jacek Garbulinski and Norman Wereley Characterization of Flexural Properties of an Extensile Artificial Muscle (abstract)
10:30	Satoshi Hoshino and Koya Kikuchi Multiple Cooperative Searchers for Aerial Surveillance (abstract)
10:30	Guillaume Lozenguez On the Distributivity of Multi-Agent Markov Decision Processes for Mobile-Robotics (abstract)

10:30-16:50 Session Sod2: SWARM on-demand 2: Engineering 2

10:30	Sebastian Herzog and Florentin Wörgötter Application of Neural Ordinary Differential Equations to the Prediction of Multi-Agent Systems (abstract)
10:30	Emma Milner, Mahesh Sooriyabandara and Sabine Hauert Stochastic Behaviours for Retrieval of Storage Items Using Simulated Robot Swarms (abstract)
10:30	Charles Wu, Daniel Lofaro and Donald Sofge A Learned Encircling Strategy for Robot Swarm Pursuit-Evasion Against a Superior Evader (abstract)
10:30	Kedar Karpe, Avinash Sinha, Shreyas Raorane, Ayon Chatterjee, Pranav Srinivas and Lorenzo Sabattini Towards Optimized Distributed Multi-Robot Printing: an Algorithmic Approach (abstract)
10:30	Jennifer Leaf and Julie Adams The Impact of Disturbances on Consensus Decision Making in Collective Agent Systems (abstract)
10:30	Thiago Grabe, Fabrício Inácio, Leandro Marcolino, Douglas Macharet and Luiz Chaimowicz Stand by Me: Learning to Keep Cohesion in the Navigation of Heterogeneous Swarms (abstract)
10:30	Amir Salimi Lafmejani, Hamed Farivarnejad, Seyed Mostafa Rezayat Sorkhabadi, Fatemeh Zahedi, Azadeh Doroudchi and Spring Berman Collision-Free Velocity Tracking of a Moving Ground Target by Multiple Unmanned Aerial Vehicles (abstract)
10:30	Richard Hall, Donald Sofge and Daniel Lofaro Emergent Behavior in Swarms with on-Board Sensing Using Universal Global Inputs (abstract)
10:30	Masanari Harada, Jun Shintake and Yusuke Ikemoto Development of Tensegrity-Spine Joints Realizing Instantaneous Motions with a Mechanical-Action Potential (abstract)
10:30	Keisuke Yoneda, Daisuke Saruyama and Naoki Suganuma Dynamic Occupancy Grid Map by Sensor Fusion of LiDAR, Radar and Digital Map Using Evidential Mapping for Automated Driving (abstract)
10:30	Susumu Yamashita and Kazuyuki Ito Proposal of a Novel Creeping Mechanism by Using Twisting Motion for Soft Robot (abstract)

10:30-16:50 Session Sod3: SWARM on-demand 3: Biology

10:30	Yuta Sakamoto and Tomoko Sakiyama Single Ants May Go Against the Flows on the Ant Trail After Joining on the Crowds (abstract)
10:30	Yusaku Ogai, Yoshiyuki Matsumura, Shuhei Kiyosawa, Toru Moriyama, Naohisa Nagaya and Ryusuke Fujisawa Walking Trajectories of Pillbugs in Similar Species (abstract)
10:30	Christopher Lakey and Matthew Turner Emergent Ordering of Microswimmers in Smectic Liquid Crystals (abstract)
10:30	Illia Aota and Ei-Ichi Izawa Experimental Removal of the Top-Ranked Individual Activates Vocalization of the Low-Ranked Individuals in a Captive Group of Crows (abstract)
10:30	Midori Tashiro, Masao Kubo and Hiroshi Sato Herd Guidance by Multiple Sheep Dogs (abstract)
10:30	Dieu My Nguyen, Golnar Gharooni Fard, Michael Iuzzolino and Orit Peleg Robustness of Collective Scenting in the Presence of Physical Obstacles (abstract)
10:30	Harvey Devereux, Colin Twomey, Matthew Turner and Shashi Thutupalli Corralled Active Brownian Particles: Whirligig Beetles Show a Density Dependent Speed with MIPS-like, Co-Existing High and Low Density Phases (abstract)
10:30	Harvey Devereux and Matthew Turner Bottom-up Models of Swarming and the Entropy of Visual States (abstract)
10:30	Hisashi Murakami, Claudio Feliciani, Yuta Nishiyama and Katsuhiro Nishinari Mutual Anticipation in Human Crowds (abstract)
10:30	Xiaohui Guo, Asma Azizi and Jennifer Fewell A Mechanistic Model for Collective Alarm Response in Social Ant Colonies (abstract)

10:30-16:50 Session SodOS1: SWARM on-demand OS1: Motion Analysis and Control of Advanced Robotic Systems

10:30	Fumihiko Asano and Yuetong He Control and Analysis of Sliding Limit Cycle Walking on Low-Friction Road Surface (abstract)
10:30	Fumihiko Asano and Runyu Liu Generation of Sliding Limit Cycle Gait for 3-Link Point-Footed Biped with Instantaneous Stance-Leg Exchange (abstract)
10:30	Haosong Chen, Cong Yan, Fumihiko Asano and Longchuan Li Quasi-Passive Dynamic Biped Walking Based on Entrainment Effect (abstract)
10:30	Cong Yan, Longchuan Li and Fumihiko Asano Modeling and Analysis of Semicircular-Footed Compass-like Biped Robot with Entrainment-Based Control (abstract)
10:30	Xindi Zhao, Cong Yan and Fumihiko Asano Basic Experiment and Data Analysis of Transportation of Loupe-Shaped Object Using Shaft Rotational Friction (abstract)
10:30	Masatsugu Nishihara and Fumihiko Asano Motion Analysis for Sliding Robot with Inclined Telescopic Upper Link (abstract)
10:30	Cong Yan, Haosong Chen, Yanqiu Zheng and Fumihiko Asano Gait Analysis of Biped Robot with Semicircular Feet Only on Front Side Driven by Sinusoidal Hip Torque (abstract)
10:30	Kota Okamoto, Shinya Aoi, Ippei Obayashi, Hiroshi Kokubu, Kei Senda and Kazuo Tsuchiya Boundary Crisis by Heteroclinic Tangency in Passive Dynamic Walking (abstract)
10:30	Hidetoshi Morita, Shinya Aoi, Kazuo Tsuchiya and Hiroshi Kokubu A Novel Bifurcation in Hybrid Dynamical Systems: Towards the Analysis of Walk, Run, and Fall in Human Locomotion (abstract)

10:30-16:50 Session SodOS2: SWARM on-demand OS2: Recent Advances in Snake Robots

10:30	Mizuki Nakajima, Qi Cheng and Motoyasu Tanaka Gait of a Snake Robot Using Spiral Stairs Function on a Pipe with Branches (abstract)
10:30	Yasuhiro Imagawa, Ryo Ariizumi, Toru Asai and Shun-Ichi Azuma Port-Controlled Hamiltonian Approach for Robust Control of Snake Robots (abstract)
10:30	Jordan Boyle A Snake with the Mind of a Worm (abstract)
10:30	Yuki Tada, Tetsushi Kamegawa and Akio Gofuku Estimating Gait Parameters of a Snake Robot Using an Extended Kalman Filter for Moving in a Pipe (abstract)
10:30	Daiki Nakano, Tetsushi Kamegawa, Toru Kishutani and Akio Gofuku Shape-Based Compliance Control for a Snake Robot Moving in a Pipe with Different Diameter (abstract)

10:30-16:50 Session SodOS3: SWARM on-demand OS3: Swarm Engineering

10:30	Motoaki Hiraga, Yasumasa Tamura and Kazuhiro Ohkura Evolving Echo State Networks for Generating Collective Behavior of a Robotic Swarm (abstract)
10:30	Motoaki Hiraga and Kazuhiro Ohkura MBEANN Approach for Evolving Cooperative Transport by a Robotic Swarm (abstract)
10:30	Daichi Morimoto, Motoaki Hiraga, Kazuhiro Ohkura and Masaharu Munetomo Generating Collective Step-Climbing Behavior Using a Multi-Legged Robotic Swarm (abstract)
10:30	Toshiyuki Yasuda, Mitsuru Jindai and Shunsuke Ota Learning Coordinated Motions of a Robotic Swarm to Follow a Teleoperated Robot (abstract)
10:30	Ryo Asai and Kazunori Sakurama Formation Control of Two-Wheeled Mobile Robots Keeping Constant Distance to Wall (abstract)
10:30	Sunao Kitaura and Naoki Wakamiya Movement Control of Cyborg Insects for Fast Exploration of a Collapsed Building (abstract)
10:30	Kazuki Sumida, Kazunori Sakurama and Takanori Aoki Model of a One-Way Car-Sharing System with Real-Time Pricing (abstract)
10:30	Shinsaku Izumi Performance Analysis of Chemotaxis-Inspired Coverage Controllers for Multi-Agent Systems (abstract)

15:20-16:50 Session 1P1D: DARS online 2

Chair:

Michael Amir

15:20	Carlos Carbone, Dario Albani, Federico Magistri, Dimitri Ognibene, Cyrill Stachniss, Gert Kootstra, Daniele Nardi and Vito Trianni Monitoring and Mapping of Crop Fields with UAV Swarms Based on Information Gain (abstract)
15:50	Michael Amir, Noa Agmon and Alfred Bruckstein A Discrete Model of Collective Marching on Rings (abstract)
16:20	Gianni Di Caro and Abdul Wahab Ziaullah Yousaf Map Learning via Adaptive Region-Based Sampling in Multi-Robot Systems (abstract)

17:00-18:00 Session 1SP1: Keynote Speech 1

Chair:

Hyo-Sung Ahn

17:00

Ming Cao

Rigidity Graph Theory for Understanding Animal and Robot Formation Movements (abstract)

18:10-19:10 Session 1SP2: Keynote Speech 2

Chair:

Shigeto Dobata

18:10

Toru Miura

Understanding of Superorganisms: Collective Behavior, Differentiation and Social Organization (abstract)

Wednesday, June 2nd

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04:00-06:30 Session 2A0OS5: SWARM online OS5: Multi-scale Instrumentation of Biological Swarms

Chairs:

Jacob Peters and Kirstin Petersen

04:00	Kaitlin M. Baudier and Theodore P. Pavlic Multi-Level Instrumentation of Bivouac Thermoregulation: Current Methods and Future Directions (abstract)
04:15	Taeyeong Choi, Benjamin Pyenson, Juergen Liebig and Theodore Pavlic Beyond Tracking: Using Deep Learning to Discover Novel Interactions in Biological Swarms (abstract)
04:30	Matthew Fu, Isabel Houghton and John Dabiri Reconstructing Configurations of Zooplankton Aggregations and Their Biogenic Flows with 3D Scanning Velocimetry (abstract)
04:45	Matina Donaldson-Matasci, Elva J. H. Robinson and Scott Powell Monitoring Traffic in the Transport Networks of Arboreal Ants (abstract)
05:00	Colin Lynch, Ioulia Bespalova, Theodore Pavlic and Fewell Jennifer How to Effectively Sample to Estimate Distributions of Behavioral States and Transitions in Social Insects (abstract)
05:15	Matthew Smith, August Easton-Calabria, Tony Zhang, Szymon Zymslony, Jessie Thuma, Kayleigh Cronin, Cassandra Pasadyn, Benjamin de Bivort and James Crall Long-Term Tracking and Classification of Individual Behavior in Bumble Bee Colonies (abstract)
05:30	Jack Defay, Jacob Peters and Kirstin Petersen A Customizable, Low-Cost Alternative for Distributed 2D Flow Sensing in Swarms (abstract)
05:45	Thomas Bochynek Use of a Customizable, Disassemblable X-Ray CT Scanner for in-the-Field Imaging of Social Insect-Made Structures (abstract)
06:00	Jingwen Du, Zach Brothers, Leah Valdes, Nils Napp and Kirstin Petersen Automated Entrance Monitoring of Managed Bumble Bees (abstract)
06:15	Hungtang Ko, Mathias Hadgu and David Hu Fire Ant Rafts Are Unstable (abstract)

10:00-12:00 Session 2A1S: SWARM online 1

Chair:

Kazuhiro Ohkura

10:00	Daichi Kuroda, Kimmo Kaski and Takashi Shimada Dynamics of Cooperative and Non-Cooperative Relationships Built Through Indirect Reciprocity in a Realistic Acquaintance Network (abstract)
10:30	Kosuke Somemori and Takashi Shimada On the Distance Distribution from Captured Targets to the Chasers in Group Chase and Escape (abstract)
11:00	Shuntaro Takekuma, Shun-Ichi Azuma, Ryo Ariizumi and Toru Asai OS3: Consensus Control of Multi-Hopping-Rover Systems (abstract)
11:30	Yuichiro Sueoka, Teppei Senda, Yusuke Tsunoda and Koichi Osuka OS3: Design of an Experimental Platform to Control Simple Swarm Robots from Environmental Stimuli (abstract)

10:30-12:00 Session 2A1D: DARS online 3

Chair:

Vivek Shankar Varadharajan

10:30	Petras Swissler and Michael Rubenstein ReactiveBuild: Environment-Adaptive Self-Assembly of Amorphous Structures (abstract)
11:00	Vivek Shankar Varadharajan, Soma Karthick and Giovanni Beltrame Collective Transport via Sequential Caging (abstract)
11:30	Puneet Jain and Michael Goodrich Processes for a Colony Solving the Best-of-N Problem Using a Bipartite Graph Representation (abstract)

12:40-14:40 Session 2P1D: DARS online 4

Chair:

Toru Murayama

12:40	Shota Tanaka, Takahiro Endo and Fumitoshi Matsuno Decentralized Navigation in 3D Space of a Robotic Swarm with Heterogeneous Abilities (abstract)
13:10	Zahi Kakish, Karthik Elamvazhuthi and Spring Berman Using Reinforcement Learning to Herd a Robotic Swarm to a Target Distribution (abstract)
13:40	Toru Murayama and Lorenzo Sabattini Preservation of Giant Component Size After Robot Failure for Robustness of Multi-Robot Network (abstract)
14:10	Sarah Brent, Chengzhi Yuan and Paolo Stegagno Swarm Localization Through Cooperative Landmark Identification (abstract)

12:40-14:40 Session 2P1S: SWARM online 2

Chair:

Yasumasa Tamura

12:40	Yusuke Tsunoda, Mitsuki Okada, Yuichiro Sueoka and Koichi Osuka OS3: Proposal of Minimal Approach on Swarm Navigation with Heterogeneity (abstract)
13:10	Ryoto Himo, Masaki Ogura and Naoki Wakamiya OS3: Shepherding Algorithm for Agents with Heterogeneous Sensitivities (abstract)
13:40	Alexandre Suire, Reiji Suzuki, Roi Harel, Margaret Crofoot and Akiko Matsumoto-Oda Analyzing Predation Risk Through Spatial Locations in Wild Anubis Baboons (Papio anubis) (abstract)
14:10	Taro Abe and Hisashi Date Localization of a Snake-like Robot with the Position Information of Links in Contact with the Ground (abstract)

14:50-16:50 Session 2P2S: SWARM online 3

Chair:

Toshiyuki Yasuda

14:50	Yuki Origane, Yuya Hattori and Daisuke Kurabayashi Analysis of Swarm Deformability Change with Control Barrier Function (abstract)
15:20	Ryan Ong, Mitsuhiro Kamezaki, Yuhan Li and Shigeki Sugano Cooperative Movement Based Path Planning with a Mobile Robot in a Multi-Agent Environment Using Deep Reinforcement Learning (abstract)
15:50	Kunqiang Qing, Ruisen Huang and Keum-Shik Hong Using Deep Learning for Rehabilitation Exercise Based on Brain-Machine Interaction with Wearable Robot (abstract)
16:20	Fatemeh Ziaeetabar, Minija Tamosiunaite and Florentin Wörgötter Concept of a Description-Based Approach to Represent Manipulation Actions in Multi-Agent Interaction (abstract)

17:00-18:00 Session 2SP1: Plenary Speech 1

Chair:

Shun-Ichi Azuma

17:00

Atsushi Mochizuki

Controlling Cell Fate Specification System Based on Network Structure (abstract)

18:10-19:10 Session 2SP2: Invited Speech 1

Chair:

Shuzhi Sam Ge

18:10

Jan Tommy Gravdahl

Modeling and Control of Underwater Snake Robots (abstract)

Thursday, June 3rd

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10:00-12:00 Session 3A1S: SWARM online 4

Chair:

Ryo Ariizumi

10:00	Chantal Nguyen, Isabella Huang and Orit Peleg Firefly-Inspired Vocabulary Generator for Communication in Multi-Agent Systems (abstract)
10:30	Belal Elsayed, Tatsuya Takemori and Fumitoshi Matsuno OS2: Snake Robot Locomotion with Locked-Joint and Free-Joint Failures (abstract)
11:00	Koki Harada, Ryo Ariizumi, Motoyasu Tanaka, Toru Asai and Shun-Ich Azuma OS2: Head Trajectory Tracking Control of a Snake-like Robot with Prismatic Joints (abstract)
11:30	Takeshi Kano, Kotaro Yasui, Noriyuki Otaki and Akio Ishiguro OS2: On the Tegotae-Based Control of Snake Locomotion -- Limitation and Possible Solution (abstract)

12:40-14:40 Session 3P1S: SWARM online 5

Chair:

Fumihiko Asano

12:40	Takumi Yamada, Mau Adachi, Tomoya Kamimura, Shinya Aoi, Kazuo Tsuchiya and Fumitoshi Matsuno OS1: Dynamical Analysis of the Effect of Fore-Hind Offset of the Center of Mass on Bounding Gait (abstract)
13:10	Wataru Yanagimoto, Longchuan Li, Takahiro Fuseya and Isao Tokuda OS1: A Minimalistic Model for an Arc-Shaped Sliding Locomotion Robot with Wobbling Mass (abstract)
13:40	Keiya Osuga, Takahiro Fuseya and Longchuan Li OS1: Modeling and Analysis of a Passive Dynamics Walker with Wobbling Mass (abstract)
14:10	Kaho Sato, Tomoya Kamimura, Shinya Aoi, Yasuo Higurashi, Naomi Wada, Kazuo Tsuchiya, Akihito Sano and Fumitoshi Matsuno OS1: Simple Model Analysis on Effects of Spine Movement on Quadrupedal Bounding (abstract)

14:50-16:50 Session 3P2S: SWARM online OS4: Embodied Swarm Intelligence and Artificial Life

Chairs:

Takashi Ikegami and Hemma Philamore

14:50	Takashi Ikegami and Hemma Philamore Introduction of OS4: Embodied Swarm Intelligence and Artificial Life (abstract)
14:55	Hiroki Kojima, Akiko Kashiwagi, Hiroaki Suzuki and Takashi Ikegami Phenotypic Inheritance of Dynamical Traits in Growing Populations of Tetrahymena (abstract)
15:20	Itsuki Doi and Takashi Ikegami Entire Tracking Analysis of Honeybees' Hive Dynamics (abstract)
15:45	Hemma Philamore and Adrienne Hart Demonstration - Co-creating soft robot avatars to expand access to creative spaces (abstract)
16:10	Sabine Hauert Invited Keynote - Swarms for People (abstract)

17:00-18:00 Session 3SP1: Plenary Speech 2

Chair:

Julien Bourgeois

17:00

Gregory Scott Chirikjian

Robotic Self-Reconfiguration, Self-Repair, and Self-Replication (abstract)

18:10-19:10 Session 3SP2: Invited Speech 2

Chair:

Kazushi Ikeda

18:10

Satoshi Hirata

Studying Feral Horse Behavior from the Sky (abstract)

Friday, June 4th

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10:00-12:00 Session 4A1S: SWARM online 6

Chair:

Toru Namerikawa

10:00	Puneet Jain, Om Prakash Singh and Sachit Butail Dynamics of Mosquito Swarms over a Moving Marker (abstract)
10:30	Lipo Mo, Yingmin Jia and Yongguang Yu Constrained H-Infinity Consensus with Nonidentical Constraints (abstract)
11:00	Takeshi Kano, Kotaro Yasui, Taishi Mikami, Munehiro Asally and Akio Ishiguro Simple Mathematical Model for COVID-19 Outbreak Considering Economic Activities (abstract)
11:30	Alexander Maxseiner, Daniel Lofaro and Donald Sofge Visible Light Communication for Robotic Swarms (abstract)

12:40-14:40 Session 4P1S: SWARM online 7

Chair:

Keita Nakamura

12:40	Xuhui Lu, Yingmin Jia and Yongling Fu Encoding-Decoding-Based Min-Consensus Control (abstract)
13:10	Yoshiaki Katada Swarm Robots Using a New Levy Walk Generator in Targets Exploration (abstract)
13:40	Ko Yamamoto and Ian Iakubchik Continuum Model Simulation and Congestion Reduction Control of Four-Directional Pedestrian Flows Assuming Scramble Crossing (abstract)
14:10	Mari Nakamura Heterogeneous Boid Model Comprised of Agents with Variable Sensor Area (abstract)

14:50-16:50 Session 4P2S: SWARM online 8

Chair:

Kazunori Sakurama

14:50	Marius Jurt, Emma Milner, Mahesh Sooriyabandara and Sabine Hauert Collective Transport of Arbitrarily Shaped Objects Using Robot Swarms (abstract)
15:20	Jan Bayer and Jan Faigl Decentralized Task Allocation in Multi-Robot Exploration with Position Sharing Only (abstract)
15:50	Chunlai Peng and Kazunori Sakurama Distributed Formation and Orientation Control for Multi-Robot Systems via Local Frames (abstract)
16:20	Nobuaki Miuzmoto, Paul Bardunias and Stephen Pratt Parameter Tuning Facilitates the Evolution of Diverse Tunneling Patterns in Termites (abstract)

17:00-18:00 Session 4SP1: Plenary Speech 3

Chair:

Poramate Manoonpong

17:00

Auke Jan Ijspeert

Investigating Animal Locomotion Using Biorobots (abstract)

18:10-19:10 Session 4SP2: Keynote Speech 3

Chair:

Marco Dorigo

18:10

Kazuki Tsuji

Understanding the Division of Labor in Ants by Trade Theories (abstract)

19:10-19:40 Closing Ceremony

Summary of DARS-SWARM2021
Award ceremony
Announcement of DARS2022, SWARM2022
Closing remarks