Related papers: Optimal Probabilistic Ring Exploration by Asynchro…
We consider the fundamental benchmarking problem of gathering in an $(N,f)$-fault system consisting of $N$ robots, of which at most $f$ might fail at any execution, under asynchrony. Two seminal results established impossibility of a…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
We study a problem of multi-agent exploration with behaviorally heterogeneous robots. Each robot maps its surroundings using SLAM and identifies a set of areas of interest (AoIs) or frontiers that are the most informative to explore next.…
Two of the most fundamental distributed symmetry-breaking problems are that of finding a maximal independent set (MIS) and a maximal matching (MM) in a graph. It is a major open question whether these problems can be solved in constant…
In this paper we study the following multi-robot coordination problem: given a graph, where each edge is weighted by the probability of surviving while traversing it, find a set of paths for $K$ robots that maximizes the expected number of…
This paper addresses the autonomous robot ergodicity problem for efficient environment exploration. The spatial distribution as a reference is given by a mixture of Gaussian and the mass generation of the robot is assumed to be skinny…
Volumetric objectives for exploration and perception tasks seek to capture a sense of value (or reward) for hypothetical observations at one or more camera views for robots operating in unknown environments. For example, a volumetric…
We study the mean estimation problem under communication and local differential privacy constraints. While previous work has proposed \emph{order}-optimal algorithms for the same problem (i.e., asymptotically optimal as we spend more bits),…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
In this paper, we investigate the optimal robot path planning problem for high-level specifications described by co-safe linear temporal logic (LTL) formulae. We consider the scenario where the map geometry of the workspace is…
In this paper we consider a robot patrolling problem in which events arrive randomly over time at the vertices of a graph. When an event arrives it remains active for a random amount of time. If that time active exceeds a certain threshold,…
Understanding the computational power of mobile robot systems is a fundamental challenge in distributed computing. While prior work has focused on pairwise separations between models, we explore how robot capabilities, light observability,…
We consider n robots with limited visibility: each robot can observe other robots only up to a constant distance denoted as the viewing range. The robots operate in discrete rounds that are either fully synchronous (FSync) or…
We propose a novel non-randomized anytime orienteering algorithm for finding k-optimal goals that maximize reward on a specialized graph with budget constraints. This specialized graph represents a real-world scenario which is analogous to…
We give the first agnostic, efficient, proper learning algorithm for monotone Boolean functions. Given $2^{\tilde{O}(\sqrt{n}/\varepsilon)}$ uniformly random examples of an unknown function $f:\{\pm 1\}^n \rightarrow \{\pm 1\}$, our…
In the gathering problem, n autonomous robots have to meet on a single point. We consider the gathering of a closed chain of point-shaped, anonymous robots on a grid. The robots only have local knowledge about a constant number of…
We study the computability and complexity of the exploration problem in a class of highly dynamic graphs: periodically varying (PV) graphs, where the edges exist only at some (unknown) times defined by the periodic movements of carriers.…
We present the problem of finding a maximal independent set (MIS) (named as \emph{MIS Filling problem}) of an arbitrary connected graph having $n$ vertices with luminous myopic mobile robots. The robots enter the graph one after another…
Using mobile robots for autonomous patrolling of environments to prevent intrusions is a topic of increasing practical relevance. One of the most challenging scientific issues is the problem of finding effective patrolling strategies that,…
We consider the problem of computing a perfect matching problem in a synchronous distributed network, where the network topology corresponds to a complete bipartite graph. The communication between nodes is restricted to activating…