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Understanding the higher-order interactions within network data is a key objective of network science. Surveys of metadata triangles (or patterned 3-cycles in metadata-enriched graphs) are often of interest in this pursuit. In this work, we…
This work proposes an autonomous multi-robot exploration pipeline that coordinates the behaviors of robots in an indoor environment composed of multiple rooms. Contrary to simple frontier-based exploration approaches, we aim to enable…
We study the problem of exploring all vertices of an undirected weighted graph that is initially unknown to the searcher. An edge of the graph is only revealed when the searcher visits one of its endpoints. Beginning at some start node, the…
This paper deals with the problem of autonomous navigation of a mobile robot in an unknown 2D environment to fully explore the environment as efficiently as possible. We assume a terrestrial mobile robot equipped with a ranging sensor with…
We consider three related problems of robot movement in arbitrary dimensions: coverage, search, and navigation. For each problem, a spherical robot is asked to accomplish a motion-related task in an unknown environment whose geometry is…
A group of mobile agents is given a task to explore an edge-weighted graph $G$, i.e., every vertex of $G$ has to be visited by at least one agent. There is no centralized unit to coordinate their actions, but they can freely communicate…
Grids with blocked and unblocked cells are often used to represent terrain in robotics and video games. However, paths formed by grid edges can be longer than true shortest paths in the terrain since their headings are artificially…
We investigate two fundamental problems in mobile computing: exploration and rendezvous, with two distinct mobile agents in an unknown graph. The agents may communicate by reading and writing information on whiteboards that are located at…
Autonomous 3D acquisition of outdoor environments poses special challenges. Different from indoor scenes, where the room space is delineated by clear boundaries and separations (e.g., walls and furniture), an outdoor environment is spacious…
Determining the occupancy status of locations in the environment is a fundamental task for safety-critical robotic applications. Traditional occupancy grid mapping methods subdivide the environment into a grid of voxels, each associated…
This paper considers the collaborative graph exploration problem in GPS-denied environments, where a group of robots are required to cover a graph environment while maintaining reliable pose estimations in collaborative simultaneous…
We created two dimensional hexagonal cellular automata to obtain complexity. Considering the game of life rules, Wolfram's works about life-like structures and John von Neumann's self-replication, self-maintenance, self-reproduction…
In this paper we investigate the computational power of a set of mobile robots with limited visibility. At each iteration, a robot takes a snapshot of its surroundings, uses the snapshot to compute a destination point, and it moves toward…
This paper investigates the conformal isometry hypothesis as a potential explanation for the hexagonal periodic patterns in grid cell response maps. We posit that grid cell activities form a high-dimensional vector in neural space, encoding…
In this paper, we propose an efficient clustering technique to solve the problem of clustering in the presence of obstacles. The proposed algorithm divides the spatial area into rectangular cells. Each cell is associated with statistical…
This paper focuses on a variation of the Art Gallery problem that considers open edge guards and open mobile guards. A mobile guard can be placed on edges and diagonals of a polygon, and the "open" prefix means that the endpoints of such…
The exploration problem in the discrete universe, using identical oblivious asynchronous robots without direct communication, has been well investigated. These robots have sensors that allow them to see their environment and move…
We consider the problem of time-limited robotic exploration in previously unseen environments where exploration is limited by a predefined amount of time. We propose a novel exploration approach using learning-augmented model-based…
For robots to operate in general environments like households, they must be able to perform non-prehensile manipulation actions such as toppling and rolling to manipulate ungraspable objects. However, prior works on non-prehensile…
We study a problem of online targets coverage by a drone or a sensor that is equipped with a camera or an antenna of fixed half-angle of view $\alpha$. The targets to be monitored appear at arbitrary positions on a line barrier in an online…