Research on Multi-Agent Systems and Robots

Swarm Intelligence

Agent-Based Modeling

Consensus Dynamics

Networked Control Systems

Distributed Optmization

Multi-Robot Systems

Optimal Collective Response

April 3, 2019/by bouffana

Collective Learning

January 1, 2022/by bouffana

Multi-Agent Reinforcement Learning

January 2, 2020/by bouffana

Interplay Between Social Interaction and Agent Memory

January 1, 2021/by bouffana

Experience Replay Using Transition Sequences

June 21, 2018/by bouffana
  1. Social Contagion Drives Collective Consensus Formation on Scale-Free Networks
    Savari M, Horsevad N, Kooij RE, Chamanbaz M, Wernli D & Bouffanais R
    Scientific Reports (16), 2026. [pdf] [doi]
  2. Ensuring Safe Robust Control Design Through Optimal Control with Switching Strategy
    Tiwari A, Tripathy NS, Chamanbaz M & Bouffanais R
    Asian Journal of Control, in press, 2026. [pdf] [doi]
  3. Multi-Agent Dynamically Networked and Decentralized Pursuit-Evasion
    Kouzehgar M, Song Y, Prasetyo MB, Loo Y, Liu S, Meghjani M & Bouffanais R
    2025 IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS), Dec 4–6, 2025, Singapore, pp. 1–7. [pdf] [doi]
  4. A Sequential Deep Learning Algorithm for Sampled Mixed-integer Optimisation Problems
    Chamanbaz M & Bouffanais R
    Information Sciences (634), 73–84, 2023. [pdf] [doi]
  5. Effect of Swarm Density on Collective Tracking Performance
    Kwa HL, Philippot J & Bouffanais R
    Swarm Intelligence (17), 253–281, 2023. [pdf]
  6. Adaptivity: A Path Towards General Swarm Intelligence?
    Kwa HL, Kit JL, Horsevad N, Philippot J, Savari M & Bouffanais R
    Frontiers in Robotics and AI (10), 1163185, 2023. [pdf] [doi]
  7. The Impact of Agent Density and Environmental Factors on Target Tracking Swarms
    Kwa HL, Philippot J & Bouffanais R
    Proceedings of the ALIFE 2023: The 2023 Conference on Artificial Life, July 24–28, 2023, Sapporo, Japan, vol. 2023, pp. 88–96, MIT Press. [pdf] [doi]
  8. Multi-Target Pursuit by a Decentralized Heterogeneous UAV Swarm using Deep Multi-Agent Reinforcement Learning
    Kouzehgar M, Song Y, Meghjani M & Bouffanais R
    2023 IEEE International Conference on Robotics and Automation (ICRA), May 29–June 2, 2023, London, UK, pp. 3289–3295. [pdf] [doi]
  9. Controllability of a Class of Swarm Signaling Networks
    Sun P, Kooij RE & Bouffanais R
    J. Complex Networks (10):6, cnac054, 2022. [pdf] [doi]
  10. Adapting the Exploration-Exploitation Balance in Heterogeneous Swarms: Tracking Evasive Targets
    Kwa HL, Babineau V, Philippot J & Bouffanais R
    Artificial Life (29), 1–16, 2022. [pdf] [doi]
  11. Transition from Simple to Complex Contagion in Collective Decision-Making
    Horsevad N, Mateo D, Kooij RE, Barrat A & Bouffanais R
    Nature Communications (13), 1442, 2022. [pdf] [doi]
  12. Beyond Bio-Inspired Robotics: How Multi-Robot Systems Can Support Research on Collective Animal Behavior
    Horsevad N, Kwa HL & Bouffanais R
    Frontiers in Robotics and AI (9), 865414, 2022. [pdf] [doi]
  13. ‘Data dregs’ and its Implications for AI Ethics: Revelations From the Pandemic
    Lim SS & Bouffanais R
    AI and Ethics (2), 595–597, 2022. [pdf] [doi]
  14. Balancing Collective Exploration and Exploitation in Multi-Agent and Multi-Robot Systems: A Review
    Kwa HL, Kit JL & Bouffanais R
    Frontiers in Robotics and AI (8), 771520, 2022. [pdf] [doi]
  15. Finite-time Event-triggered Control for a Class of Nonlinear Systems
    Tripathy NS, Chamanbaz M & Bouffanais R
    CDC 2022, 61st IEEE Conf. Decision Control, December 6–9, 2022, Cancún, Mexico, pp. 545–551. [pdf] [doi]
  16. Tuning the Clustering Coefficient of Generalized Circulant Networks
    Kooij RE, Horsevad N & Bouffanais R
    Physica A: Statistical Mechanics and Its Applications (578), 126088, 2021. [pdf] [doi]
  17. Tracking Multiple Fast Targets With Swarms: Interplay Between Social Interaction and Agent Memory
    Kwa HL, Kit JL & Bouffanais R
    Proceedings of the ALIFE 2021: The 2021 Conference on Artificial Life, July 19–23, 2021, online, pp. 62–71, MIT Press. [pdf] [doi]
  18. Tailoring Exploration and Exploitation in Multi-Agent Systems with Short-Term Memory and Limited Social Interaction
    Kwa HL, Kit JL & Bouffanais R
    3rd International Workshop on Agent-Based Modelling of Human Behaviour (ABMHuB’21), July 19–23, online, 2021. [pdf] [web]
  19. Randomized Constraints Consensus for Distributed Robust Mixed-Integer Programming
    Chamanbaz M, Notarstefano G, Sasso F & Bouffanais R
    IEEE Trans. Control Network Systems (8), 295–306, 2020. [pdf] [doi]
  20. Robust Stabilization of a Class of Nonlinear Systems via Aperiodic Sensing and Actuation
    Tripathy NS, Kar IN, Chamanbaz M & Bouffanais R
    IEEE Access (8), 157403, 2020. [pdf] [doi]
  21. Heterogeneous Swarms for Maritime Dynamic Target Search and Tracking
    Kwa HL, Tokić G, Bouffanais R & Yue DKP
    IEEE/MTS Global Oceans 2020: Singapore – U.S. Gulf Coast, October 5–30, 2020, online, pp. 1–8. [pdf] [doi]
  22. Multi-Agent Reinforcement Learning for Dynamic Ocean Monitoring by a Swarm of Buoys
    Kouzehgar M, Meghjani M & Bouffanais R
    IEEE/MTS Global Oceans 2020: Singapore – U.S. Gulf Coast, October 5–30, 2020, online, pp. 9–17. [pdf] [doi]
  23. Robust Stabilization of a Class of Networked Nonlinear Systems via Parsimonious Communication and Actuation
    Tripathy NS, Kar IN, Chamanbaz M & Bouffanais R
    IECON 2020, The 46th Annual Conference of the IEEE Industrial Electronics Society, October 18–21, Singapore, pp. 4919–4926. [pdf] [doi]
  24. Optimal Swarm Strategy for Dynamic Target Search and Tracking
    Kwa HL, Kit JL & Bouffanais R
    AAMAS 2020, 19th International Conference on Autonomous Agents and Multiagent Systems, May 9–13, 2020, Auckland NZ, pp. 672–680, B. An, N. Yorke-Smith, A. El Fallah Seghrouchni, G. Sukthankar (eds.). [pdf] [doi] [web]
  25. A Sequential Algorithm for Sampled Mixed-integer Optimization Problems
    Chamanbaz M & Bouffanais R
    IFAC 2020, 21th IFAC World Congress, July 11–17, 2020, Berlin, Germany, pp. 6749–6755. [pdf] [doi]
  26. Optimal Network Topology for Responsive Collective Behavior
    Mateo D, Horsevad N, Hassani V, Chamanbaz M & Bouffanais R
    Science Advances (5), :eaau0999, 2019. [pdf] [doi]
  27. Self-Organizing Maps for Storage and Transfer of Knowledge in Reinforcement Learning
    Karimpanal TG & Bouffanais R
    Adaptive Behavior (27):2, 111–126, 2019. [pdf] [doi]
  28. Design Innovation of Mesoscale Robotic Swarms: Applications to Cooperative Urban Sensing and Mapping
    Dharmawan AG, Soh GS, Foong S, Bouffanais R & Wood KL
    Front. Inform. Technol. Electron. Eng. (20), 1618–1631, 2019. [pdf] [doi]
  29. Design, Modeling and Experimentation of a Bio-Inspired Miniature Climbing Robot with Bilayer Dry Adhesives
    Dharmawan AG, Xavier P, Hariri HH, Soh GS, Baji A, Bouffanais R, Foong S, Low HY & Wood KL
    J. Mech. Rob. (11):2, 020902, 2019. [pdf] [doi]
  30. Robust Stabilization of Resource Limited Networked Control Systems Under Denial-of-Service Attack
    Tripathy NS, Chamanbaz M & Bouffanais R
    CDC 2019, 58th IEEE Conf. Decision Control, December 11–12, 2019, Nice, France, pp. 7683–7689. [pdf] [doi]
  31. A Physics-Based Attack Detection Technique in Cyber-Physical Systems: A Model Predictive Control Co-Design Approach
    Chamanbaz M, Dabbene F & Bouffanais R
    ANZCC 2019, IEEE Australian & New Zealand Control Conf., November 27–29, 2019, Auckland, New Zealand, pp. 18–23. [pdf] [doi]
  32. Decentralized Multi-Floor Exploration by a Swarm of Miniature Robots Teaming with Wall-Climbing Units
    Leong Kit J, Dharmawan AG, Mateo D, Foong S, Soh GS, Bouffanais R & Wood KL
    MRS 2019, IEEE International Symposium on Multi-Robot and Multi-Agent Systems, August 22–23, 2019, New Brunswick, NJ, pp. 195–201. [pdf] [doi]
  33. Design and Analysis of A Miniature Two-Wheg Climbing Robot with Robust Internal and External Transitioning Capabilities
    Koh DCY, Dharmawan AG, Hariri HH, Soh GS, Foong S, Bouffanais R, Low HY & Wood KL
    ICRA 2019, IEEE International Conference on Robotics and Automation, May 20–24, 2019, Montréal, QC, pp. 9740–9746. [pdf] [doi]
  34. Tail Design of A Miniature Two-Wheg Climbing Robot for External Transitioning
    Dharmawan AG, Koh DCY, Soh GS, Foong S, Bouffanais R & Wood KL
    IFToMM 2019, World Congress on Mechanism and Machine Science (73), pp. 2139–2148. [pdf] [doi]
  35. Experience Replay Using Transition Sequences
    Karimpanal TG & Bouffanais R
    Frontiers in Neurorobotics (12), 32, 2018. [pdf] [doi]
  36. Consensus in Topologically Interacting Swarms under Communication Constraints and Time-Delays
    Komareji M, Shang Y & Bouffanais R
    Nonlinear Dynamics (93), 1287–1300, 2018. [pdf] [doi]
  37. Distributed System of Autonomous Buoys for Scalable Deployment and Monitoring of Large Waterbodies
    Zoss BM, Mateo D, Kuan YK, Tokić G, Chamanbaz M, Goh L, Vallegra F, Bouffanais R & Yue DKP
    Autonomous Robots (42), 1669–1689, 2018. [pdf] [doi]
  38. A Bio-Inspired Miniature Climbing Robot with Bilayer Dry Adhesives: Design, Modeling, and Experimentation
    Dharmawan AG, Xavier P, Anderson D, Perez KB, Hariri HH, Soh GS, Baji A, Bouffanais R, Foong S, Low HY & Wood KL
    IDETC 2018, ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 26–29, 2018, Québec City, QC, DETC2018-85294, V05BT07A036. [pdf] [doi]
  39. Self-Organizing Maps as a Storage and Transfer Mechanism in Reinforcement Learning
    Karimpanal TG & Bouffanais R
    ALA 2018, Federated AI Meeting, Adaptive and Learning Agents Workshop, July 14–15, 2018, Stockholm, Sweden, pp. 1–7, 2018. [pdf] [web]
  40. Gradual Collective Upgrade of a Swarm of Autonomous Buoys for Dynamic Ocean Monitoring
    Vallegra F, Mateo D, Tokić G, Bouffanais R & Yue DKP
    OCEANS 2018, MTS/IEEE Oceans Charleston, Charleston, SC, pp. 1–7. [pdf] [doi]
  41. Development of a Miniature Robot for Multi-Robot Occupancy Grid Mapping
    Sundram J, Van Nguyen D, Soh GS, Bouffanais R & Wood KL
    ICARM 2018, 3rd IEEE International Conference on Advanced Robotics and Mechatronics, July 18–20, 2018, Singapore, pp. 414–419. [pdf] [doi]
  42. ORION-II: A Miniature Climbing Robot with Bilayer Compliant Tape for Autonomous Intelligent Surveillance and Reconnaissance
    Hariri HH, Koh DCY, Lim HC, Dharmawan AG, Nguyen VD, Soh GS, Foong S, Bouffanais R, Low HY & Wood KL
    ICARCV 2018, 15th IEEE International Conference on Control, Automation, Robotics and Vision (ICARCV), November 18–21, 2018, Singapore, pp. 1621–1626. [pdf] [doi]
  43. A Decentralized Mobile Computing Network for Multi-Robot Systems Operations
    Leong Kit J, Mateo D & Bouffanais R
    UEMCON 2018, 9th IEEE Annual Ubiquitous Computing, Electronics & Mobile Communication Conference, November 8–10, 2018, New York City, NY, pp. 309–314. [pdf] [doi]
  44. Excess of social activity reduces the responsiveness of swarms
    Mateo D & Bouffanais R
    Chapter 18 in Complex Systems: Theory and Applications (Eds. Rzevski G & Brebbia CA), WIT Press, Pages 172–180, Print ISBN: 978-1-78466-235-6, eBook ISBN: 978-1-78466-236-3, 2017. [pdf] [web]
  45. Effect of Correlations in Swarms on Collective Response
    Mateo D, Kuan YK & Bouffanais R
    Scientific Reports (7), 10388, 2017. [pdf] [doi]
  46. Swarm-Enabling Technology for Multi-Robot Systems
    Chamanbaz M, Mateo D, Zoss BM, Tokić G, Wilhelm E, Bouffanais R & Yue DKP
    Frontiers in Robotics and AI (4), 0012, 2017. [pdf] [doi]
  47. A Randomized Distributed Ellipsoid Algorithm for Uncertain Feasibility Problems
    Chamanbaz M, Notarstefano G & Bouffanais R
    CDC 2017, IEEE 56th Annual Conference on Decision and Control, December 12–15, 2017, Melbourne, Vic., pp. 1305–1310. [pdf] [doi]
  48. Randomized Constraints Consensus for Distributed Robust Linear Programming
    Chamanbaz M, Notarstefano G & Bouffanais R
    IFAC 2017, 20th IFAC World Congress (50), 4973–4978. [pdf] [doi]
  49. Design and Control of Swarm Dynamics
    Bouffanais R
    Springer, Complexity Series, ISBN 978-981-287-750-5, 118 pages, 2016. [pdf] [doi] [web]
  50. Interplay Between Signaling Network Design and Swarm Dynamics
    Sekunda A, Komareji M & Bouffanais R
    Network Science (4), 244–265, 2016. [pdf] [doi]
  51. Excess of Social Activity Reduces the Responsiveness of Swarms
    Mateo D & Bouffanais R
    Int. J. Des. Nat. Ecodyn. (11), 654–662, 2016. [pdf] [doi]
  52. Consensus Reaching in Swarms Ruled by a Hybrid Metric-Topological Distance
    Shang Y & Bouffanais R
    Eur. Phys. J. B (87), 294, 2014. [pdf] [doi]
  53. Influence of the Number of Topologically Interacting Neighbors on Swarm Dynamics
    Shang Y & Bouffanais R
    Scientific Reports (4), 04184, 2014. [pdf] [doi]
  54. Resilience and Controllability of Dynamic Collective Behaviors
    Komareji M & Bouffanais R
    PLoS one (8), e82578, 2013. [pdf] [doi]
  55. Controllability of a Swarm of Topologically Interacting Autonomous Agents
    Komareji M & Bouffanais R
    Int. J. Complex Systems in Science (3), 11–19, 2013. [pdf] [web]

Complete publication list in PDF [here]

Bouffanais’ Research Lab  ·  Applied Complexity Group  ·  Faculty of Science & Global Studies Institute, University of Geneva
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