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Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the…
We introduce and study a new problem concerning the exploration of a geometric domain by mobile robots. Consider a line segment $[0,I]$ and a set of $n$ mobile robots $r_1,r_2,..., r_n$ placed at one of its endpoints. Each robot has a {\em…
Robots operate in environments with varying implicit structure. For instance, a helicopter flying over terrain encounters a very different arrangement of obstacles than a robotic arm manipulating objects on a cluttered table top.…
A nonholonomic under-actuated robot with a bounded control range travels inside an unknown and unstructured 3D tunnel bounded by a generic 2D surface. The robot has access to the nearest point of the surface and measures the distance to the…
Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…
We present a strategy SEP for finite state machines tasked with cleaning a cellular environment in which a contamination spreads. Initially, the contaminated area is of height $h$ and width $w$. It may be bounded by four monotonic chains,…
In a multi-robot system, a number of autonomous robots would sense, communicate, and decide to move within a given domain to achieve a common goal. In this paper, we consider a new variant of the pursuit-evasion problem in which the robots…
In this work, we introduce an online model for communication complexity. Analogous to how online algorithms receive their input piece-by-piece, our model presents one of the players, Bob, his input piece-by-piece, and has the players Alice…
Decentralized control of robots has attracted huge research interests. However, some of the research used unrealistic assumptions without collision avoidance. This report focuses on the collision-free control for multiple robots in both…
Coverage path planning in a generic known environment is shown to be NP-hard. When the environment is unknown, it becomes more challenging as the robot is required to rely on its online map information built during coverage for planning its…
Encoding the distance between locations in space is essential for accurate navigation. Grid cells, a functional class of neurons in medial entorhinal cortex, are believed to support this computation. However, existing theories of how…
Enhancing robot navigation efficiency is a crucial objective in modern robotics. Robots relying on external navigation systems are often susceptible to electromagnetic interference (EMI) and encounter environmental disturbances, resulting…
Most of the existing robotic exploration schemes use occupancy grid representations and geometric targets known as frontiers. The occupancy grid representation relies on the assumption of independence between grid cells and ignores…
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 the distributed triangle detection problem, we have an $n$-vertex network $G=(V,E)$ with one player for each vertex of the graph who sees the edges incident on the vertex. The players communicate in synchronous rounds using the edges of…
This paper uses mathematics to analyze the challenges of geometrically noisy environments on triangulation. Given widely accepted algorithmic triangulation methods, such as O (n ln n) or a simpler O (n^3) method, we can mathematically prove…
We systematically study the boundaries of one-dimensional, 2-color cellular automata depending on 4 cells, begun from simple initial conditions. We determine the exact growth rates of the boundaries that appear to be reducible. Morphic…
Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…
The distributions of the random distances associated with hexagons, rhombuses and triangles have been derived and verified in the existing work. All of these geometric shapes are related to each other and have various applications in…
This paper addresses the problem of exploring a region using the Hilbert's space-filling curve in the presence of obstacles. No prior knowledge of the region being explored is assumed. An online algorithm is proposed which can implement…