Much more photos available (by courtesy of Prof. Fumihiko Asano, Japan Advanced Institute of Science and Technology, Japan).
If you want to see them, please feel free to contact SWARM 2017 Secretariat: swarm2017[at] (replace [at] with @ in the e-mail address) and let us know your name, affiliation, and hopefully submission/registration numbers.


Best Paper Award Winner

Satoshi Satoh, Kenji Fujimoto
Gait generation for a biped robot with knees and torso via trajectory learning and state-transition estimation

Best Paper Award Finalists

  • Wei Qi, Tetsushi Kamegawa, Akio Gofuku
    Helical wave propagate motion on a vertical pipe with a branch for a snake robot
  • Satoshi Satoh, Kenji Fujimoto
    Gait generation for a biped robot with knees and torso via trajectory learning and state-transition estimation
  • Jason R. Cody, Julie A. Adams
    Reducing distance bias in value-sensitive swarm site selection
  • Atsushi Masumori, Norihiro Maruyama Takeshi Mita, Douglas Bakkum, Urs Frey, Hirokazu Takahashi, Takashi Ikegami
    Learning by stimulation avoidance in cultured neuronal cells

Best Student Paper Award Winner

Mathias Thor, Theis Strom-Hansen, Leon B. Larsen, Alexander Kovalev, Stanislav N. Gorb, Poramate Manoonpong
Advantages of using a biologically plausible embodied kinematic model for enhancement of speed and multifunctionality of a walking robot

Best Student Paper Award Finalists

  • Mathias Thor, Theis Strom-Hansen, Leon B. Larsen, Alexander Kovalev, Stanislav N. Gorb, Poramate Manoonpong
    Advantages of using a biologically plausible embodied kinematic model for enhancement of speed and multifunctionality of a walking robot
  • Carl Strathearn, Minhua Ma
    Development of 3D sculpted, hyper-realistic biomimetic eyes for humanoid robots and medical ocular prostheses
  • Wei Qi, Tetsushi Kamegawa, Akio Gofuku
    Helical wave propagate motion on a vertical pipe with a branch for a snake robot
  • Jason R. Cody, Julie A. Adams
    Reducing distance bias in value-sensitive swarm site selection
  • Motoaki Hiraga, Toshiyuki Yasuda, Kazuhiro Ohkura
    Evolutionary acquisition of congestion management of a robotic swarm in a path formation task

A winner will be announced at the award ceremony in the banquet on October 31. Finalists, please attend the banquet. If a finalist does not have a banquet thicket, she/he can buy it at the on-site registration desk with pre-registration fee.
Award Finalists (PDF)


Living things that survive natural selection have adaptive skills and intelligent behavior. A swarm can perform many functions that its component individuals cannot possibly accomplish alone. For example, in addition to the ability to adapt to the environment, a swarm can construct a suitable environment for its own advantage. The constructive understanding of intelligence of living things is a very interesting approach from the point of view of biology and engineering. The aim of this second symposium SWARM2017 is the construction of a bridge between biologists and engineers who are interested in the intelligence of living things and the creation of a new academic field by integrating biology and engineering. This symposium will focus on the biological and engineering approaches for understanding swarm behavior and biologically-inspired robotics. All aspects of swarm behavior and bio-inspired robotics are welcome, including, but not limited to, the following topics:


  • Social Insects
  • Evolutionary Cooperation
  • Ethology
  • Social Physiology
  • Adaptation
  • Self-Organization
  • Sociometry
  • Phase Polyphenism
  • Quorum Sensing


  • Swarm Intelligence
  • Swarm Robotics
  • Biomimetics
  • Bio-Inspired Robotics
  • Multi-Agent Systems
  • Walking Robots
  • Modular Robotics
  • Decentralized Control
  • Distributed Systems

Call for Papers (PDF)

Keynote Speech

Heterogeneity within Swarms

Prof. Nigel R. Franks
(University of Bristol)

Mechanisms of Division of Labor in Ants + Evolution of Social Behavior in Robots

Prof. Laurent Keller
(University of Lausanne)

Biologically Inspired Snake-like Robots and their Practical Applications

Prof. Shigeo Hirose
(Tokyo Institute of Technology/ HiBot Corporation)

Keynote Speech 1 (October 30): Heterogeneity within Swarms by Prof. Nigel R. Franks

Consider the proverb “It would not do for us all to be the same”. This proverb is a declaration that human society only works because of differences among its members. It implies that the uniqueness of individuals is vital to the common good. In this presentation, I will consider a case in which differences among ants in a single task, new nest site evaluation, may benefit their colony hugely. Indeed, the uniqueness of individuals may be the basis of the imagination of the system. The principle that “It would not do for us all to be the same” is also manifest in science in general and interdisciplinary science especially. Moreover, if a novel bridge is to be built between biology and engineering &emdash; the effectiveness of that new enterprise will depend on the bridge sustaining two-way traffic. Perhaps controversially, I will argue that we will need something far more useful than mutual “inspiration”: we will need the different approaches of biologists and engineers to develop deeper understanding rather than superficial inspiration. Virtuous cycles of biological and engineering experimentation, where each informs the next revolution, should favour new and very exciting technology and science.

Nigel Franks graduated with a First Class Honours degree in Zoology from the University of Leeds, UK in 1977. He then began a PhD also at the University of Leeds during which he spent two years doing field work in Panama on army ants with the Smithsonian Tropical Research Institute. Nigel Franks completed his PhD in three years and was awarded the Thomas Henry Huxley Award in 1980 from the Zoological Society of London for the best British PhD in Zoology. He then received a Postdoctoral Fellowship from the Royal Commission for the Great Exhibition of 1851, which enabled him to study with Professor E. O. Wilson at Harvard. In 1982, he was appointed to a Lectureship at the University of Bath and became a full Professor there in 1995. He moved to the University of Bristol, UK in 2001 and has been there ever since. Nigel Franks has published more than 200 papers, co-authored three books and made 80 broadcasts, mostly on ants and mostly with the BBC. Nigel Franks was profiled in Science in 2006 (DOI: 10.1126/science.323.5919.1284). Nigel's work has been characterized by collaborations with very gifted mathematicians and physicists but he is a strong advocate of the simple principle that science progresses best through direct experimentation. The great thing about experiments with insects is that they do most of the work and they often give you very candid answers.

Keynote Speech 2 (October 31): Mechanisms of Division of Labor in Ants + Evolution of Social Behavior in Robots by Prof. Laurent Keller

Ants live in organized societies with a marked division of labor among workers, but little is known about how this division of labor is generated. In the first part of this talk I will present network analyses based on more than 9 million interactions to show how workers move from one behavioural group to another as they age. I will also present a model allowing one to predict the pattern of behavioural maturation of workers based on who they interact with. In the second part of the talk I will outline the conditions necessary for cooperation and communication to evolve among evolving groups of robots and report a few surprising results.

Laurent Keller is professor of evolutionary biology and head of the Department of Ecology and Evolution at the University of Lausanne. He uses ants as a model organism to study the principles governing the origin and evolution of animal societies. He has also been using experimental evolution with robots to study the evolution of altruism and communication. He has published >300 scientific articles, several books and has been awarded several prizes, including the Latsis national prize, the EO Wilson Naturalist award and the Marcel Benoist Prize.

Keynote Speech 3 (November 1): Biologically Inspired Snake-like Robots and their Practical Applications by Prof. Shigeo Hirose

In 1993, I published the book entitled “Biologically Inspired Robots Snake-Like Locomotors and Manipulators-” from Oxford University Press. It was my secret pleasure to know that the term “Biologically Inspired Robots” has become very popular since this time in Robotic community, but at the same time it was a little bit disappointing for me to know that very few of them were really used in real applications. In this talk, I will show my early study about the biological experiments using real snake and study of snake-like locomotors and manipulators, including world first snake-like locomotor ACM 3. At the same time, I will also explain that the biologically inspired snake-like robots were just recently really used in real applications, such as the 4 m long coupled-tendon snake-like manipulator CT-Arm used for the inspection of high radiation site of Fukushima Daiichi nuclear reactor accident, and multi-wheeled snake-like locomotor ACM R4 for the same purpose and to look in the burrow of Wombat.

Shigeo Hirose is the co-founder, Chairman & Executive Director CTO of HiBot Corporation, professor emeritus of Tokyo Institute of Technology. He received his PhD degree in 1976 in Control Engineering from Tokyo Institute of Technology, and stayed in the same university as an assistant professor, associate professor, professor, distinguished professor and director of SMS development and innovation center. His research interest is in the creative design of robotic mechanisms and their control. He received more than 70 academic awards, including IEEE Robotics and Automation Award (2014), Joseph Engelberger Robotics Award (2009), Carlos Ghosn Award (2008), Medal with Purple Ribbon from Japanese government(2006), Award of Merits from IFToMM(2004), the first Pioneer in Robotics & Automation Award (1999).

Invited Talk

Sensor Modalities in Multi-Robot Coordination: Constraints and Solutions

Prof. Daniel Zelazo
(Technion - Israel Institute of Technology)

Inverse Bayesian Inference in a Swarm of Soldier Crab

Prof. Yukio-Pegio Gunji
(Waseda University)

Invited Talk 1: Sensor Modalities in Multi-Robot Coordination: Constraints and Solutions by Prof. Daniel Zelazo

The implementation of coordination and control algorithms for multi-robot systems often depends explicitly on the sensing modalities available to the robots. Common coordination goals, such as formation control, can have vastly different control algorithms depending on what information is available to each robot. In this talk, we explore how various sensing modalities, such as distance measurements or bearing measurements, are used to achieve coordination tasks like formation control and localization. Despite the differences of the sensing modalities, we show that they share a common underlying conceptual and theoretical framework based on rigidity theory. The talk will focus on recent results in bearing-only formation control and highlight open challenges in this arena.

Daniel Zelazo is an Assistant Professor of Aerospace Engineering at the Technion — Israel Institute of Technology. He received his BSc (99) and MEng (01) degrees in Electrical Engineering & Computer Science from the Massachusetts Institute of Technology. Following his master study, he spent 3.5 years in Japan working on audio compression algorithms at Texas Instruments Japan, and finally teaching English at a private high school in Tokyo. In 2004 he began his doctoral studies at the University of Washington in the Department Aeronautics and Astronautics, and graduated in 2009. From 2010-2012 he served as a post-doctoral research associate and lecturer at the Institute for Systems Theory & Automatic Control in the University of Stuttgart. His research interests include topics related to multi-agent systems, control and optimization, and graph theory.

Invited Talk 2: Inverse Bayesian Inference in a Swarm of Soldier Crab by Prof. Yukio-Pegio Gunji

Although animals showing collective behavior have a tendency of getting together, they sometimes avoid their group mates to make a swarm being split. Through the experiments on behavior of soldier crabs, we confirm that soldier crabs’ decision making on whether they follow mates or not is dependent on local and temporal condition, and that swarming behavior equipped with intrinsic diverse motions could be explained by mutual anticipation under asynchronous updating. Recent study clarify that some social animals could make decisions based on Bayesian inference. The natural conditions surrounding animals are, however, instable, and optimal strategy chosen by Bayesian inference is inadequate and insufficient. We here introduce not only Bayesian but inverse Bayesian inference to mimic soldier crabs’ decision making. Inverse Bayesian inference is proposed by one of authors and is implemented by changing hypotheses due to the environment. We show that collective behavior of soldier crabs could be explained by a pair of Bayesian and inverse Bayesian inference, and that mutual anticipation with asynchronous updating could be expressed as Bayesian and inverse Bayesian inference with synchronous updating.

Yukio-Pegio Gunji:
  • 2014-Present, School of Fundamental Science and Technology, Waseda University
  • 2012-2015, Visiting Professor, University of West England
  • 1999-2014 Professor, Faculty of Science, Kobe University
  • 1993-1999 Associate Professor, Faculty of Science, Kobe University
  • 1987-1993 Assistant Professor, Faculty of Science, Kobe University
  • 1987 Doctor of Science (Tohoku University)
  • 1982 Faculty of Science, Tohoku University
Books: “Life Theory” (2006. Tetsugaku shobou, Tokyo), “Nature of Time” (2008. Kodan-sha, Tokyo). “Life-bot No. 1” (2010. Seido-sha, Tokyo). “Consciousness of Swarm” (2013. PHP. Pub. Co., Tokyo). “Philosophy of Living things and Raw things.” (2014. Seido-sha, Tokyo). All are in Japanese.


Bio-inspired control for interlimb coordination and adaptation in legged robots

Workshop: October 29 (full-day), 2017
Location: The Clock Tower Centennial Hall, Conference Room III, Yoshida Campus, Kyoto University


Biological walking systems can adaptively form their interlimb coordination for locomotion to deal with different situations. Neurophysiological studies have revealed that the adaptive coordination emerges from dynamical interactions of neural activities, plasticity, musculoskeletal systems, and the environment. Achieving this on legged robots remains a grand challenge. Thus our workshop “Bio-inspired control for interlimb coordination and adaptation in legged robots” at SWARM 2017 will bring together leading experts, working in the domains of bio-inspired control of legged robots, to present their recent achievements on robot locomotion with adaptive interlimb coordination for speed-dependent adaptation, environment-dependent adaptation, body-dependent adaptation, and task-dependent adaptation. We will also discuss future directions to overcome this challenge.

The workshop organizers:

Poramate Manoonpong, Shinya Aoi, and Yuichi Ambe

List of speakers:

  • Yuichi Ambe (Department of Applied Information Sciences, Graduate School of Information Sciences, Tohoku University, Japan)
  • Shinya Aoi (Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Japan)
  • Amir Ayali (School of Zoology, Tel Aviv University, Tel Aviv, Israel)
  • Gen Endo (School of Engineering, Tokyo Institute of Technology, Japan)
  • Yasuhiro Fukuoka (Intelligent Systems Engineering, College of Engineering, Ibaraki University, Japan)
  • Koh Hosoda (Graduate School of Engineering Science, Osaka University, Japan)
  • Poramate Manoonpong (Embodied AI & Neurorobotics Lab, Centre for BioRobotics, The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Denmark)
  • Dai Owaki (Research Institute of Electrical Communication, Tohoku University, Japan)
  • Malte Schilling (The Center of Excellence for Cognitive Interaction Technology, University of Bielefeld, Germany)
  • Alexander Spröwitz (Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems (MPI-IS) Stuttgart, Germany)

Program (Updated on October 2)

9:30 Workshop start
9:30–9:45 Brief Introduction, announcements
Poramate Manoonpong

Six-legged and multi-legged locomotion

9:45–10:15 Six legged locomotion: A comparative study of different insect models
Amir Ayali, Daniel Knebel, Izhak David, Jan Rillich, Hans-Joachim Pflueger
10:15–10:45 Biological inspired approaches to robot control try to mimic the motor performance found in animals
Malte Schilling
11:15–11:45 Simple model analysis of the effect of sensory feedback on multi-legged interlimb coordination: Existence of direct, retrograde and source wave gaits
Yuichi Ambe
11:45–12:15 Improvement of turning maneuverability of a multi legged robot by the straight walk instability
Shinya Aoi
12:15–12:45 From a dung beetle to a multifunctional robot: A bio-inspired approach
Poramate Manoonpong

Four-legged locomotion

14:15–14:45 Dynamic locomotion in legged machines
Alexander Spröwitz
14:45–15:15 Bio-inspired gait transition for quadruped robots
Yasuhiro Fukuoka, Takahiro Fukui
15:15–15:45 Biological approach and engineering approach for walking
Gen Endo

Two-legged locomotion

16:15–16:45 Muscular Skeletal Structure and Adaptive Bipedal Walking
Koh Hosoda
16:45–17:15 Inter and intralimb coordination for adaptive bipedal walking: Tegotae-based approach
Dai Owaki
17:15–17:45Discussion & Closing

Workshop Program (PDF)

Organized Session

Organized session proposals are invited. An orgnized session proposal should include the title, aim and scope of the session, and the names, e-mail addresses, affiliations and short bios of the organizers. The proposal can include additional information such as a list of potential contributors. At least three papers should be arranged in an organized session.
Proposals should be sent by e-mail to SWARM 2017 Secretariat.
All proposals should be submitted by May 12, 2017.

Accepted Sessions

Advanced control methods and technologies for bio-inspired robotic locomotion by Fumihiko Asano (Japan Advanced Institute of Science and Technology)

This organized session invites studies on advanced methods of motion generation, stability analysis, learning control and mechanism design for biomorphic locomotion robots and its support technologies. In this session, the presenters discuss mainly about mathematical methods for achieving robot locomotion and its understanding from the biological point of view. We also welcome studies on the concepts of novel robot locomotion as non-existent and unknown creatures, and its advantages in adaptation to a complicated environment. This session provides a forum to discuss the necessity and direction of novel and unknown moving forms of locomotion robots.

Insect's movement patterns revealed by virtual reality system by Ryusuke Fujisawa (Hachinohe Institute of Technology)

This organized session invites studies on movement patterns of insects. The patterns include sophisticated strategies such as efficient searching behavior. The presenters discuss movement patterns of insects which can be revealed by novel tracking systems, especially virtual reality systems. This session contributes novel measurement systems, analyses and observational studies of animal movements.

Recent advances in snake robotics by Jan Tommy Gravdahl (Norwegian University of Science and Technology, Norway), Tetsushi Kamegawa (Okayama University, Japan), and Motoyasu Tanaka (The University of Electro-Communications, Japan)

Snake robots, both crawling, swimming and flying, continue to attract interest from the robotics community. The biologically inspired flexible body of such robots enable motion and applications that are not possible by other types of robots, and although research in this field has been conducted for several decades, there are still both theoretical and practical aspects of snake robot locomotion that has not been addressed. In this organised session, we invite researchers to present their recent work on all aspects of snake robot research. Possible topics include, mechanical design, mechatronics, mathematical modelling, control and analysis, but all new research connected to snake robotics is welcomed.

Artificial swarm systems by Masahito Yamamoto (Hokkaido University) and Keisuke Yoneda (Kanazawa University)

This organized session welcomes papers related to the field of so-called “swarm robotics”. Practically, swarm robotics was born in a field of robotics as a kind of distributed autonomous robotic systems with the concept of the emergent methodology for extremely redundant systems. They are typically consisted of homogeneous autonomous robots, similar to living animals that build swarms. The topics included in this organized session might be the emergent mechanisms of building collective behavior not only in a physical robotic swarm but also in a simulated robotic swarm, various methods of analyzing collective behavior, typically, the congestion which always is observed in a robotic swarm, potential engineering applications to our daily life and many others. Proposing original ideas or methods in this field is also encouraged.

Advanced control and optimization for large-scale networked systems by Toru Namerikawa (Keio University)

This session is intended as presenting recent developments at the advanced cooperative control theories and optimization algorithms for large-scale and complex networked systems Despite a great deal of efforts for the past few decades, these areas remain active driven by strong social needs. In particular, among many research directions, our focus is placed on synchronization, formation control, optimization and distributed algorithm for large-scale systems including networked robotics, human networks and transportation networks.

Understanding a Hierarchical Organization of Swarming Dynamics by Hiraku Nishimori (Hiroshima University), Masashi Shiraishi (Hiroshima University), Olaf Witkowski (ELSI), and Takashi Ikegami (University of Tokyo)

One of the complex nature of self-organization of swarming can be found in its hierarchical structure. For example, from a division of labor in ants and bees nets and a clony formation of ardeidae, and to complex human communities, we see that it is not to easy to classify its hierarchical structures. Because its complex self-organization is only captured from an internal observer's point of view. Each agent of a community has its own internal state, memory and inference capabilities and sensor-motor coupling, hich a simple machine learning approach cannot take into account. We would like to challenge this problem by taking new modeling and analysis approaches to artificial and natural systems.


Click here for the symposium program, Ver.3.
(Session chair information added and poster numbers updated on October 22)

Program at a Glance

Monday, October 30

Tuesday, October 31

Room I
Room II
Keynote speech (2) by Prof. Laurent Keller
Poster: 3-minute spotlight talks
12:00–13:00  Break
Poster: Bio-inspired studies
Poster: Swarm science
14:10–14:30  Break
OS5: Advanced control and optimization for large-scale networked systems (1)
OS6: Understanding a hierarchical organization of swarming dynamics (1)
15:30–15:40  Break
OS5: Advanced control and optimization for large-scale networked systems (2)
OS6: Understanding a hierarchical organization of swarming dynamics (2)
Banquet at at ArtGrace Wedding Hills

Wednesday, November 1

Room I
Room II
Keynote speech (3) by Prof. Shigeo Hirose
Invited talk (2) by Prof. Yukio-Pegio Gunji
11:30–12:30/50  Break
OS2: Insect's movement patterns revealed by virtual reality system (1)
Bio-inspired studies (2)
13:30–13:40  Break
OS2: Insect's movement patterns revealed by virtual reality system (2)
Swarm science (2)
14:40–14:50  Break
Bio-inspired studies (3)
Swarm science (3)
15:50–16:00  Break
Bio-inspired studies (4)
Swarm science (4)
Farewell Party at Camphora

Speaker Instructions

For Oral Sessions

  • Please arrive in the session room at least five minutes before the session begins and be sure to let the session chairs know you are there. VGA connection will be provided and there will be no audio hookup for your computer.
  • Each speaker will be allocated a total of 20 minutes.
  • Organizers do not provide PCs in session rooms; please bring your own.

For Poster Sessions

Presenting your brief spotlight talk and poster

  • The session will be held on Tuesday Oct. 31 in the Room I and II.
  • The session has two components: first, brief 3-minute spotlight talks in the morning, and then a poster presentation of about 70 minutes for all papers in the session that will be held afternoon.
  • This will afford you the opportunity to present your work to a large audience and to interact more deeply with those who are interested to learn more.

Brief 3-minute spotlight talk

  • Please do not leave the room after the keynote speech begins and be sure to let the session chairs know you are there. VGA connection will be provided and there will be no audio hookup for your computer.
  • Each speaker will be allocated a total of 3 minutes for their spotlight talk.
  • Your presentation is an advertisement for your paper, so focus on insights rather than details.
  • You will have only three minutes, but there will be no changeover time and no questions, so you should be able to get your message across so the audience will know if they want to learn more and visit your poster during the poster presentation. Questions and discussions will happen during the poster presentation.

Setting up your 3-minute talk

  • While the speaker before you is speaking, you will have three minutes to set up your laptop.
  • When the previous speaker finishes, your monitor will be projected to the screen, and the spotlight will shift to you. Your three minutes starts right then and you can begin your talk.
  • Even if you fail to connect during your three-minute setup time, you should complete your talk within the allotted time without any slide.
  • You must finish in three minutes. After three minutes, your laptop will no longer be projected, and next speaker’s laptop is projected by a switcher automatically.
  • Organizers do not provide PCs in session rooms; please bring your own.

Poster presentation

  • Poster presentation will approximately 70 minutes.
  • At least one of the authors of each accepted poster is required to be present at the poster during the entire poster session.

Preparing your poster

  • You are responsible for printing and for setting up and taking down your poster.
  • Posters will be displayed on poster display boards that are distributed in the poster session room.
  • The poster should follow the International Standards Organization (ISO) size A0. The dimensions for A0 format are 84cm x 119cm. The orientation of the poster should be portrait.

Setting up your poster

  • Posters will be assigned positions on the poster display boards according to their poster number. The poster number can be found below. You should put your poster on poster display board with your number.
  • Posters can be affixed to the poster boards with tape or pins, which will be provided. The poster display boards will be set up by 13:00 on Tuesday, and you should set your poster up no later than 13:00.

  • P1: Development of a Two-link Underwater Snake Robot in a 2D Plane Using Screw-Drive Mechanism, Toru Takano, Xiaoyu Wang, Baris Suatac, Motoyasu Tanaka and Fumitoshi Matsuno
  • P2: Four-legged robot capable of moving in a three-dimensional environment —Developing a robot capable of climbing unknown columnar objects—, Yoshihiro Homma, Ryushi Aoyagi, Kazuyuki Ito and Fumitoshi Matsuno
  • P3: [WIP] Collective Learning with Deep Neural Networks, Yasumasa Tamura and Xavier Défago
  • P4: Trajectory Optimization and State Transition for Urban Automated Driving, Keisuke Yoneda, Toshiki Iida and Naoki Suganuma
  • P5: Development of a Circular Arc Gear-Type Modular Robot with Magnetic Connections, Senga Kurita, Yusuke Ikemoto and Toshio Fukuda
  • P6: Odometry for Display System of Snake-like Robot in Unknown Environment, Taro Abe and Hisashi Date
  • P7: Bio-Inspired Design and Kinematic Analysis of Dung Beetle-Like Legs, Aditya Kapilavai, Jevgeni Ignasov, Konstantin Filonenko, Jørgen Christian Larsen, Emily Baird, John Hallam, Sebastian Büsse, Alexander Kovalev, Stanislav Gorb, Lars Duggen and Poramate Manoonpong
  • P8: Diagnosing Fault Status in Snake-robot Using Current Data, Ryo Ariizumi, Takahiro Watanabe, Motoyasu Tanaka and Toru Asai
  • P9: Recognition of a Bending Pipe by a Snake Robot with Pressure Sensors Mounted on the Entire Circumference of the Robot’s Body, Taichi Akiyama, Tetsushi Kamegawa, Yosuke Suzuki and Akio Gofuku
  • P10: Distributed Sensor-Driven Control for Bio-Inspired Walking and Ball Rolling of a Dung Beetle-Like Robot, Theis Strøm-Hansen, Mathias Thor, Leon B. Larsen, Emily Baird and Poramate Manoonpong
  • P11: Planar Two-Link Rigid-Flexible Coupling Manipulator System: Modeling and Boundary Control, Fengming Han, Yingmin Jia and Weicun Zhang
  • P12: Development of 3D Sculpted, Hyper-Realistic Biomimetic Eyes for Humanoid Robots and Medical Ocular Prostheses, Carl Strathearn and Minhua Ma
  • P13: Advantages of using a biologically plausible embodied kinematic model for enhancement of speed and multifunctionality of a walking robot, Mathias Thor, Theis Strøm-Hansen, Leon B. Larsen, Alexander Kovalev, Stanislav N. Gorb and Poramate Manoonpong
  • P14: Hierarchical Interaction Based Flocking in Swarm Robotic Systems, Toshiyuki Yasuda and Kazuhiro Ohkura
  • P15: Trial Manufacture of a Batteryless Swarm Robot System, Kiyohiko Hattori and Bing Zhang
  • P16: Reducing Distance Bias in Value-Sensitive Swarm Site Selection, Jason R. Cody and Julie A. Adams
  • P17: Trophallaxis for group energy distribution in swarms of scavenger robots, Hemma Philamore, Choladawan Moonjaita and Fumitoshi Matsuno
  • P18: Swarming soldier crabs balance critically between attractive and repulsive decision making, Hisashi Murakami, Takenori Tomaru and Yukio Gunji
  • P19: Characterizing spontaneous active and inactive patterns in ant individuals, Masato Abe, Haruna Fujioka and Yasukazu Okada
  • P20: Effect of age differences and group size on circadian activity rhythms in queen-less ant Diacamma sp. from Japan, Haruna Fujioka, Masato Abe and Yasukazu Okada
  • P21: An Agent-based Model for Collective Behaviours of Social Amoeba Dictyostelium discoideum Morphogenesis: Aggregation Phase, Mohammad Parhizkar and Giovanna Di Marzo Serugendo
  • P22: Flock of white-fronted geese as a weakly coupled oscillator system, Yoshinori Hayakawa and Tsuyoshi Mizugutchi
  • P23: Mechanism of Scale Free Droplets in Ants, Tomoko Sakiyama
  • P24: Foraging Strategies of a Queenless Ant, Diacamma sp. in Subtropical Okinawa Island, Japan, Aye Thanda Win, Yuto Machida, Yoshihiro Miyamoto, Shigeto Dobata and Kazuki Tsuji
  • P25: A Simple Decentralized Control Scheme for Swarm Robots That can Perform Spatially Distributed Tasks in Parallel, Takeshi Kano, Eiichi Naito, Takenobu Aoshima and Akio Ishiguro
  • P26: A Preliminary Experiment to Find Self- or Neighbor-Induced Behavioral change of Soldier Crabs, Yuta Nishiyama and Masao Migita

Putting down your poster

  • The poster display boards will be taken down immediately after the poster session concludes at 14:10 so all posters should be put down as soon as the closing session ends.

Important Dates

Submission of Abstracts and Papers

May 1, 2017 May 31, 2017 June 15, 2017 (Extended)

Notification of Acceptance

July 1, 2017 July 31, 2017 August 10, 2017 (Extended)

Camera-Ready Submission

September 1, 2017 September 15, 2017 (Extended)


There are three options for submission: full paper, short paper or abstract. The only difference between the formats of these options is the number of maximum pages. Full papers and short papers have an 8-page or a 4-page maximum length and should report on new unpublished work. Surveys are also welcome as full papers. Abstracts are limited to 2 pages and can report on previously published work with the expectation of offering new viewpoints on that work. On submission, you will be able to choose your preferred presentation style—oral or poster presentation.

  • Full paper: up to 8 pages (additional page(s) to be charged)
  • Short paper: up to 4 pages
  • Abstract: up to 2 pages


The use of LaTeX/MS-Word with the following style format is strongly recommended for preparing your manuscripts.
The MS-WORD template in a single-column format is available only for abstracts without figures and tables.

LaTeX (zip) LaTeX (tgz) MS-Word MS-Word (1 Column Abstract) PDF Sample

Automated Submission System

Your final camera-ready paper formatted according to the required style should be submitted via the EasyChair.
Before submission, you need to finish paying the early registration fee.

Submission Procedure

  1. Log in EasyChair as an author. If you are logging in to EasyChair in another role, such as a chair or a subreviewer, change your role via "SWARM 2017" menu.
  2. Click the "Submission #" menu. If you are an author of several papers, select the corresponding paper number on the "My Submissions" menu.
  3. Click the "Update your information" link at the upper-right, and fill out the form you find. You are asked about the Symposium registration number, whether this is a student paper and whether you would like to join the post-conference journal/book publication.
  4. Click the "Update file" link, and submit your camera-ready PDF.

Special Issue

Selected papers will be invited for further revision and extension for possible publication
in a special issue of Artificial Life and Robotics, Springer.


(on or before Sep. 15)
Late (on or before Oct. 5)/
General JPY 45000 JPY 55000
Student JPY 35000 JPY 45000
Each Additional Paper (Up to 3) JPY 20000 n/a
Banquet JPY 5000 JPY 6000
Workshop JPY 5000 JPY 5000

  • At least one author for each paper must register on or before the early registration deadline (September 15, 2017 24:00, Japan Time: UTC+9).
  • "General" can submit two papers, and "Student" can submit one paper. Payment for additional papers must be made during the early registration period.
  • We can accept cash payment during the symposium.
  • The onsite payment by credit card is accepted on October 30 and 31. You can pay in cash ONLY on the final day (November 1).
  • Registration fee includes Consumption Tax.
  • Registration fee excludes banquet registration fee (5,000JPY per person).

Registration Flow

1. Sign Up for the Registration System

Please open the Apollon system by Nippon Travel Agency Co., Ltd. and create your account in this system by clicking the "Registration for New Users" button at the upper-right corner of the page.
Please do not forget to proceed to "Registration" after your account is created. The conference registration is not completed yet.

2. Registration

After logging in, please click "Registration" and fill in the form.
After you finish filling in the form, please click the "Submit (finish registering)" button if you are registering only yourself as a participant. If you are going to register other conference participants with your account, please click "Submit (continue making registrations)" button instead.

3. Accommodation (optional)

You can optionally reserve your accomodation with this system. Please proceed to "Accomodations" by clicking the left sidebar button after logging in.

4. Payment

After logging in, please proceed to "Payment" by clicking the left sidebar button.

Banquet/Farewell Party

Banquet will be held at ArtGrace Wedding Hills at night. ArtGrace Wedding Hills is accessible from the Kyoto University Clock Tower Centennial Hall (the conference venue) by walk. The banquet fee is 5,000 JPY for each person, and is NOT included in the registration fee. To participate in the banquet, you must buy a ticket in advance.
You are invited to the symposium farewell party at Camphora. The cafe restaurant is at the west of the main front gate of Kyoto University.

ArtGrace Wedding Hills


Banquet: Tuesday, October 31, 2017 / Farewell Party: Wednesday, November 1, 2017



Advisory Committee

  • Andrew Adamatzky (University of the West England, UK)
  • Hajime Asama (The University of Tokyo, Japan)
  • Tamim Asfour (Karlsruhe Institute of Technology, Germany)
  • Dora Biro (University of Oxford, UK)
  • Howie Choset (Carnegie Mellon University, USA)
  • Jean-Louis Deneubourg (Université Libre de Bruxelles, Belgium)
  • Magnus Egerstedt (Georgia Institute of Technology, USA)
  • Simon Garnier (Rutgers University, USA)
  • Jan Tommy Gravdahl (Norwegian University of Science and Technology, Norway)
  • Yoshinori Hayakawa (Tohoku University, Japan)
  • Auke Jan Ijspeert (Ecole Polytechnique Fédérale de Lausanne, Switzerland)
  • Takashi Ikegami (The University of Tokyo, Japan)
  • Yingmin Jia (Beihang University, China)
  • Jeff Jones (University of the West England, UK)
  • Francesco Mondada (Ecole Polytechnique Fédérale de Lausanne, Switzerland)
  • James Marshall (University of Sheffield, UK)
  • Toshiya Matsushima (Hokkaido University, Japan)
  • Hiraku Nishimori (Hiroshima University, Japan)
  • Rolf Pfeifer (University of Zurich, Switzerland)
  • Ioannis Poulakakis (University of Delaware, USA)
  • Stephen Pratt (Arizona State University, USA)
  • Jonathan Rossiter (Bristol University, UK)
  • Takao Sasaki (University of Oxford, UK)
  • Hiroshi Sato (National Defense Academy of Japan, Japan)
  • Masashi Shiraishi (Waseda University, Japan)
  • Tomohiro Shirakawa (National Defense Academy of Japan, Japan)
  • David Sumpte (Uppsala Universitet, Sweden)
  • Dimitris P. Tsakiris (University of Crete, Greece)
  • Kazuo Tuchiya (Kyoto University, Japan)
  • Florentin Wörgötter (Georg-August-Universitat Gottingen, Germany)

General Chair

Fumitoshi Matsuno (Kyoto University, Japan)

Vice-General Chairs

  • Marco Dorigo (Université Libre de Bruxelles, Belgium)
  • Yukio Gunji (Waseda University, Japan)
  • Kazuki Tsuji (University of the Ryukyus, Japan)
    • Program Chair

      Kazuhiro Ohkura (Hiroshima University, Japan)

      Vice-Program Chairs

      • Kenji Matsuura (Kyoto University, Japan)
      • Toru Namerikawa (Keio University, Japan)
      • Florentin Wörgötter (Georg-August Universitat Gottingen, Germany)

      Workshop/Organized Session Chair

      Poramate Manoonpong (The University of Southern Denmark, Denmark)

      Publication Chair

      Keitaro Naruse (The University of Aizu, Japan)

      Publicity Chair

      Toshiyuki Yasuda (University of Toyama, Japan)

      Registration Chair

      Tetsushi Kamegawa (Okayama University, Japan)

      Finance Chair

      Kazuyuki Ito (Hosei University, Japan)

      Local Arrangement Chair

      Shinya Aoi (Kyoto University, Japan)

      Local Arrangement Vice-Chair

      Shigeto Dobata (Kyoto University, Japan)


      • Hemma Philamore (Kyoto University, Japan)
      • Toshiyuki Yasuda (University of Toyama, Japan)

      Program Committee

      • Andrew Adamatzky (University of the West England, UK)
      • Hitoshi Aonuma (Hokkaido University, Japan)
      • Fumihiko Asano (Japan Advanced Institute of Science and Technology, Japan)
      • Shunichi Azuma (Nagoya University, Japan)
      • Mauro Birattari (Université Libre de Bruxelles, Belgium)
      • Zlatan Car (University of Rijeka, Croatia)
      • Shigeto Dobata (Kyoto University, Japan)
      • Takahiro Endo (Kyoto University, Japan)
      • Ryusuke Fujisawa (Hachinohe Institute of Technology, Japan)
      • Masashi Furukawa (Hokkaido Information University, Japan)
      • Daniel I. Goldman (Georgia Institute of Technology, USA)
      • Roderich Groß (The University of Sheffield, UK)
      • Takeshi Hatanaka (Tokyo Institute of Technology, Japan)
      • Kiyohiko Hattori (Saitama Institute of Technology, Japan)
      • Sabine Hauert (Bristol University, UK)
      • Tomohisa Hayakawa (Tokyo Institute of Technology, Japan)
      • Hiroyuki Iizuka (Hokkaido University, Japan)
      • Takashi Ikegami (The University of Tokyo, Japan)
      • Yusuke Ikemoto (Meijo University, Japan)
      • Hideaki Ishii (Tokyo Institute of Technology, Japan)
      • Masato Ishikawa (Osaka University, Japan)
      • Kenji Iwadate (Kitami Institute of Technology, Japan)
      • Kazuyuki Ito (Hosei University, Japan)
      • Jeff Jones (University of the West England, UK)
      • Yoshiaki Katada (Setsunan University, Japan)
      • Tetsushi Kamegawa (Okayama University, Japan)
      • Takashi Kawakami (Hokkaido University of Science, Japan)
      • Tae-Hyoung Kim (Chung-Ang University, Korea)
      • Masao Kubo (National Defense Academy of Japan, Japan)
      • Poramate Manoonpong (The University of Southern Denmark, Denmark)
      • Yoshiyui Matsumura (Shinshu University, Japan)
      • Kamilo Melo (Ecole Polytechnique Fédérale de Lausanne, Switzerland)
      • Masao Migita (Shiga University, Japan)
      • Shuhei Miyashita (MIT, USA)
      • Toru Moriyama (Shinshu University, Japan)
      • Masaaki Nagahara (The University of Kitakyushu, Japan)
      • Keitaro Naruse (University of Aizu, Japan)
      • Mihoko Niitsuma (Chuo University, Japan)
      • Hiraku Nishimori (Hiroshima University, Japan)
      • Hemma Philamore (Kyoto University, Japan)
      • Stephen Pratt (Arizona State University, USA)
      • Jonathan Rossiter (Bristol University, UK)
      • Kazunori Sakurama (Tottori University, Japan)
      • Hiroshi Sato (National Defense Academy of Japan, Japan)
      • Hyungbo Shim (Seoul National University, Korea)
      • Hiroyuki Shimoji (Hokkaido University, Japan)
      • Masashi Shiraishi (Waseda University, Japan)
      • Tomohiro Shirakawa (National Defense Academy of Japan, Japan)
      • Metin Sitti (Carnegie Mellon University, USA)
      • Serge Stinckwich (Université Pierre et Marie Curie/IRD, France)
      • Ken Sugawara (Tohoku Gakuin University, Japan)
      • Yasuhiro Sugimoto (Osaka University, Japan)
      • Keiji Suzuki (Future University Hakodate, Japan)
      • Ikuo Suzuki (Kitami Institute of Technology, Japan)
      • Keiki Takadama (The University of Electro-Communications, Japan)
      • Vito Trianni (Institute of Cognitive Sciences and Technologies, Italy)
      • Motoyasu Tanaka (The University of Electro-Communications, Japan)
      • Elio Tuci (Middlesex University London, UK)
      • Ali Emre Turgut (University of Leuven, Belgium)
      • Masaki Yamakita (Tokyo Institute of Technology, Japan)
      • Masahito Yamamoto (Hokkaido University, Japan)
      • Kazuaki Yamada (Toyo University, Japan)
      • Toshiyuki Yasuda (Univesity of Toyama, Japan)
      • Stefan John Witwicki (Ecole Polytechnique Fédérale de Lausanne, Switzerland)
      • Daniel Zelazo (Israel Institute of Technology, Israel)


The Clock Tower Centennial Hall, Yoshida Campus, Kyoto University

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