Related papers: Discrete Partitioning and Coverage Control for Gos…
The limited energy capacity of individual robotic agents in a swarm often limits the possible cooperative tasks they can perform. In this work, we investigate the problem of covering an unknown connected grid environment (e.g. a maze or…
Assuming a random uniform distribution of n sensor nodes over a virtual grid, this paper addresses the problem of finding the maximum number of connected set covers each ensuring 100% coverage of the query region. The connected sets remain…
Patrolling with multiple robots offers efficient surveillance to detect and manage undesired situations. This necessitates improved patrol efficiency and operator situation awareness at base stations. Enhanced situation awareness enables…
This paper presents a novel dynamic coverage control algorithm allowing a group of robots to track an optimal-deployment configuration for arbitrary time-varying density functions. Building on singular perturbation theory, the proposed…
We show that a distributed network of robots or other devices which make measurements of each other can collaborate to globally localise via efficient ad-hoc peer to peer communication. Our Robot Web solution is based on Gaussian Belief…
The most widely applied strategy for workload sharing is to equalize the workload assigned to each resource. In mobile multi-agent systems, this principle directly leads to equitable partitioning policies in which (i) the workspace is…
We consider a team of mobile autonomous robots with the aim to cover a given set of targets. Each robot aims to select a target to cover and physically reach it by the final time in coordination with other robots given the locations of…
We develop and analyze algorithms for dispersing a swarm of primitive robots in an unknown environment, R. The primary objective is to minimize the makespan, that is, the time to fill the entire region. An environment is composed of pixels…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
Sensor coverage is the critical multi-robot problem of maximizing the detection of events in an environment through the deployment of multiple robots. Large multi-robot systems are often composed of simple robots that are typically not…
A group of cooperative aerial robots can be deployed to efficiently patrol a terrain, in which each robot flies around an assigned area and shares information with the neighbors periodically in order to protect or supervise it. To ensure…
This paper discusses dynamical systems for disk-covering and sphere-packing problems. We present facility location functions from geometric optimization and characterize their differentiable properties. We design and analyze a collection of…
This article examines the area coverage problem for a network of mobile robots with imprecise agents' localization. Each robot has uniform radial sensing ability, governed by first order kinodynamics. The convex-space is partitioned based…
This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…
We consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network intermittently connected. We abstract the task locations into…
In this work, we study the problem of dispersion of mobile robots on dynamic rings. The problem of dispersion of $n$ robots on an $n$ node graph, introduced by Augustine and Moses Jr. [1], requires robots to coordinate with each other and…
We introduce a new problem in the domain of mobile robots, which we term dispersion. In this problem, $n$ robots are placed in an $n$ node graph arbitrarily and must coordinate with each other to reach a final configuration such that…
The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robots is particularly challenging in field deployments.…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
Given a set of co-located mobile robots in an unknown anonymous graph, the robots must relocate themselves in distinct graph nodes to solve the dispersion problem. In this paper, we consider the dispersion problem for silent robots…