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In this work, we initiate the research about the Gathering problem for robots with limited viewing range in the three-dimensional Euclidean space. In the Gathering problem, a set of initially scattered robots is required to gather at the…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
Optimization problems with drones are widely studied in a variety of civilian tasks, mainly due to their ability to traverse rough terrains and to carry cameras and other sensors for surveillance tasks. The limited battery life of these…
This paper presents a novel algorithmic framework for the computational design, simulation, and fabrication of a hexagonal grid-based double-curvature structure with planar hexagonal panels. The journey begins with constructing a robust…
In this paper we provide an overview of a new framework for robot perception, real-world modelling, and navigation that uses a stochastic tesselated representation of spatial information called the Occupancy Grid. The Occupancy Grid is a…
Team Coordination on Graphs with Risky Edges (\textsc{tcgre}) is a recently proposed problem, in which robots find paths to their goals while considering possible coordination to reduce overall team cost. However, \textsc{tcgre} assumes…
Searching for optimal ways in a network is an important task in multiple application areas such as social networks, co-citation graphs or road networks. In the majority of applications, each edge in a network is associated with a certain…
The problem of cell association is considered for cellular users present in the field. This has become a challenging problem with the deployment of 5G networks which will share the sub-6 GHz bands with the legacy 4G networks. Instead of…
In this paper, we tackle the problem of planning an optimal coverage path for a robot operating indoors. Many existing approaches attempt to discourage turns in the path by covering the environment along the least number of coverage lines,…
Constructing a spanning tree of a graph is one of the most basic tasks in graph theory. We consider a relaxed version of this problem in the setting of local algorithms. The relaxation is that the constructed subgraph is a sparse spanning…
Ground robot navigation in complex 3D environments is often hindered by geometric ambiguity, where non-traversable structures such as furniture share local geometric properties with navigable ground. Furthermore, the computational cost of…
Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex…
The use of an efficient coverage planning method is key for autonomous navigation in agricultural environments, where a robot must cover large areas of crops. This paper generally reviews the current state of the art of coverage path…
We consider the problem of exploration of networks, some of whose edges are faulty. A mobile agent, situated at a starting node and unaware of which edges are faulty, has to explore the connected fault-free component of this node by…
This contribution belongs to a combinatorial approach to hyperbolic geometry and it is aimed at possible applications to computer simulations. It is based on the splitting method which was introduced by the author and which is reminded in…
In this paper, a novel approach is introduced which utilizes a Rapidly-exploring Random Graph to improve sampling-based autonomous exploration of unknown environments with unmanned ground vehicles compared to the current state of the art.…
Crowd simulation is used for evacuation and crowd safety inspections, study of performance in crowd systems and animations. Cellular automata has been extensively used in modelling the crowd. In regular cellular automata models, each…
To afford flexible behaviour, the brain must build internal representations that mirror the structure of variables in the external world. For example, 2D space obeys rules: the same set of actions combine in the same way everywhere (step…
In this paper, we tackle the challenge of predicting the unseen walls of a partially observed environment as a set of 2D line segments, conditioned on occupancy grids integrated along the trajectory of a 360{\deg} LIDAR sensor. A dataset of…
The theory of geometric structures on a surface with nonempty boundary can be developed by using a decomposition of such a surface into hexagons, in the same way as the theory of geometric structures on a surface without boundary is…