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Integrating Large Language Models (VLMs) and Vision-Language Models (VLMs) with robotic systems enables robots to process and understand complex natural language instructions and visual information. However, a fundamental challenge remains:…
In recent years, an increased effort has been invested to improve the capabilities of robots. Nevertheless, human-robot interaction remains a complex field of application where errors occur frequently. The reasons for these errors can…
We consider the problem of detecting, in the visual sensing data stream of an autonomous mobile robot, semantic patterns that are unusual (i.e., anomalous) with respect to the robot's previous experience in similar environments. These…
Arbitrary Pattern Formation (APF) is a fundamental coordination problem in swarm robotics. It requires a set of autonomous robots (mobile computing units) to form an arbitrary pattern (given as input) starting from any initial pattern. This…
We propose a method to maintain high resource in a networked heterogeneous multi-robot system to resource failures. In our model, resources such as and computation are available on robots. The robots engaged in a joint task using these…
This paper studies the gathering problem for a set of $N \ge 2$ autonomous mobile robots operating in the Euclidean plane under the distributed Look-Compute-Move model. We consider oblivious robots executing under the adversarial defected…
The graph identification problem consists of discovering the interactions among nodes in a network given their state/feature trajectories. This problem is challenging because the behavior of a node is coupled to all the other nodes by the…
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…
We consider n robots with limited visibility: each robot can observe other robots only up to a constant distance denoted as the viewing range. The robots operate in discrete rounds that are either fully synchronous (FSync) or…
The design of distributed gathering and convergence algorithms for tiny robots has recently received much attention. In particular, it has been shown that convergence problems can even be solved for very weak, \emph{oblivious} robots:…
An appearance-based robot self-localization problem is considered in the machine learning framework. The appearance space is composed of all possible images, which can be captured by a robot's visual system under all robot localizations.…
In the existing literature of the Mutual Visibility problem for autonomous robot swarms, the adopted visibility models have some idealistic assumptions that are not consistent with practical sensing device implementations. This paper…
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…
Faces play a magnificent role in human robot interaction, as they do in our daily life. The inherent ability of the human mind facilitates us to recognize a person by exploiting various challenges such as bad illumination, occlusions, pose…
Symmetries are ubiquitous in real networks and often characterize network features and functions. Here we present a generalization of network symmetry called \emph{latent symmetry}, which is an extension of the standard notion of symmetry.…
We present a real-time, data-driven algorithm to enhance the social-invisibility of robots within crowds. Our approach is based on prior psychological research, which reveals that people notice and--importantly--react negatively to groups…
The problem of gathering multiple mobile robots to a single location, is one of the fundamental problems in distributed coordination between autonomous robots. The problem has been studied and solved even for robots that are anonymous,…
We propose a gathering protocol for an even number of robots in a ring-shaped network that allows symmetric but not periodic configurations as initial configurations, yet uses only local weak multiplicity detection. Robots are assumed to be…
In this paper, we consider the problem of scattering a swarm of mobile oblivious robots in a continuous space. We consider the fully asynchronous setting where robots may base their computation on past observations, or may be observed by…
Collaborative robots working on a common task are necessary for many applications. One of the challenges for achieving collaboration in a team of robots is mutual tracking and identification. We present a novel pipeline for online…