Related papers: Optimal grid exploration by asynchronous oblivious…
Exploration is a fundamental problem in robot autonomy. A major limitation, however, is that during exploration robots oftentimes have to rely on on-board systems alone for state estimation, accumulating significant drift over time in large…
We consider the problem of filling an unknown area represented by an arbitrary connected graph of $n$ vertices by mobile luminous robots. In this problem, the robots enter the graph one-by-one through a specific vertex, called the Door, and…
In this work, we present a novel distributed method for constructing an occupancy grid map of an unknown environment using a swarm of robots with global localization capabilities and limited inter-robot communication. The robots explore the…
Robots with very limited capabilities are placed on the vertices of a graph and are required to move toward a single, common vertex, where they remain stationary once they arrive. This task is referred to as the GATHERING problem. Most of…
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 develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
We investigate gathering algorithms for asynchronous autonomous mobile robots moving in uniform ring-shaped networks. Different from most work using the Look-Compute-Move (LCM) model, we assume that robots have limited visibility and…
Autonomous exploration of unknown environments using a team of mobile robots demands distributed perception and planning strategies to enable efficient and scalable performance. Ideally, each robot should update its map and plan its motion…
Over the years, much research involving mobile computational entities has been performed. From modeling actual microscopic (and smaller) robots, to modeling software processes on a network, many important problems have been studied in this…
In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…
We present a new algorithm for the problem of universal gathering mobile oblivious robots (that is, starting from any initial configuration that is not bivalent, using any number of robots, the robots reach in a finite number of steps the…
We propose a new probabilistic pattern formation algorithm for oblivious mobile robots that operates inthe ASYNC model. Unlike previous work, our algorithm makes no assumptions about the local coordinatesystems of robots (the robots do not…
The study of computing in presence of faulty robots in the Look-Compute-Move model has been the object of extensive investigation, typically with the goal of designing algorithms tolerant to as many faults as possible. In this paper, we…
Autonomous exploration is a crucial aspect of robotics, enabling robots to explore unknown environments and generate maps without prior knowledge. This paper proposes a method to enhance exploration efficiency by integrating neural…
The problem of adversarial multi-robot patrol has gained interest in recent years, mainly due to its immediate relevance to various security applications. In this problem, robots are required to repeatedly visit a target area in a way that…
We consider problems in which a mobile robot samples an unknown function defined over its operating space, so as to find a global optimum of this function. The path traveled by the robot matters, since it influences energy and time…
Fleets of unmanned robots can be beneficial for the long-term monitoring of large areas, e.g., to monitor wild flocks, detect intruders, search and rescue. Monitoring numerous dynamic targets in a collaborative and efficient way is a…
This paper deals with the classical problem of exploring a ring by a cohort of synchronous robots. We focus on the perpetual version of this problem in which it is required that each node of the ring is visited by a robot infinitely often.…
The \textsc{Mutual Visibility} is a well-known problem in the context of mobile robots. For a set of $n$ robots disposed in the Euclidean plane, it asks for moving the robots without collisions so as to achieve a placement ensuring that no…
Autonomous exploration of unknown environments has been widely applied in inspection, surveillance, and search and rescue. In exploration task, the basic requirement for robots is to detect the unknown space as fast as possible. In this…