Related papers: Self-stabilizing Determinsitic Gathering
We introduce a general class of algorithms and supply a number of general results useful for analysing these algorithms when applied to regular graphs of large girth. As a result, we can transfer a number of results proved for random…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
It is still an open and challenging problem for mobile robots navigating along time-efficient and collision-free paths in a crowd. The main challenge comes from the complex and sophisticated interaction mechanism, which requires the robot…
We present a deep reinforcement learning-based framework for automatically discovering patterns available in any given initial configuration of fat robot swarms. In particular, we model the problem of collision-less gathering and mutual…
We introduce the problem of adaptive self-organization in which the nodes of an anonymous, synchronous dynamic network must distributively change the collective distribution of their responses (or "colors") as a function of time-varying…
In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…
In this paper, we present a learning method to solve the unlabelled motion problem with motion constraints and space constraints in 2D space for a large number of robots. To solve the problem of arbitrary dynamics and constraints we propose…
Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…
We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…
The group synchronization problem is to estimate unknown group elements at the vertices of a graph when given a set of possibly noisy observations of group differences at the edges. We consider the group synchronization problem on finite…
In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm…
We study the Dominating set problem and Independent Set Problem for dynamic graphs in the vertex-arrival model. We say that a dynamic algorithm for one of these problems is $k$-stable when it makes at most $k$ changes to its output…
This paper presents a novel approach that allows a swarm of heterogeneous robots to produce simultaneously segregative and flocking behaviors using only local sensing. These behaviors have been widely studied in swarm robotics and their…
We study the problem \emph{Gathering} for $n$ autonomous mobile robots in synchronous settings with a persistent memory called \emph{light}. It is well known that Gathering is impossible in the basic model ($OBLOT$) where robots have no…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
Genetic Programming (GP) has found various applications. Understanding this type of algorithm from a theoretical point of view is a challenging task. The first results on the computational complexity of GP have been obtained for problems…
We present a decentralized control algorithm for a robotic swarm given the task of encapsulating static and moving targets in a bounded unknown environment. We consider minimalist robots without memory, explicit communication, or…
We consider slow-fast systems of differential equations, in which both the slow and fast variables are perturbed by noise. When the deterministic system admits a uniformly asymptotically stable slow manifold, we show that the sample paths…
In the population protocol model, many problems cannot be solved in a self-stabilizing way. However, global knowledge, such as the number of nodes in a network, sometimes allows us to design a self-stabilizing protocol for such problems. In…
A team of robots sharing a common goal can benefit from coordination of the activities of team members, helping the team to reach the goal more reliably or quickly. We address the problem of coordinating the actions of a team of robots with…