Related papers: Multi-robot coverage to locate fixed targets using…
In this paper, we study the circle formation problem by multiple autonomous and homogeneous disc-shaped robots (also known as fat robots). The goal of the robots is to place themselves on the periphery of a circle. Circle formation has many…
Rigid-formation navigation of multiple robots is essential for applications such as cooperative transportation. This process involves a team of collaborative robots maintaining a predefined geometric configuration, such as a square, while…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…
Rendezvous aims at gathering all robots at a specific location, which is an important collaborative behavior for multi-robot systems. However, in an unknown environment, it is challenging to achieve rendezvous. Previous researches mainly…
Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reducing inter-robot conflicts. In this paper, we introduce a…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
Multi-robot formation control enables robots to cooperate as a working group in completing complex tasks, which has been widely used in both civilian and military scenarios. Before moving to reach a given formation, each robot should choose…
Volumetric objectives for exploration and perception tasks seek to capture a sense of value (or reward) for hypothetical observations at one or more camera views for robots operating in unknown environments. For example, a volumetric…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
We study the problem of allocating many mobile robots for the execution of a pre-defined sweep schedule in a known two-dimensional environment, with applications toward search and rescue, coverage, surveillance, monitoring, pursuit-evasion,…
Multi-robot autonomous exploration in an unknown environment is an important application in robotics.Traditional exploration methods only use information around frontier points or viewpoints, ignoring spatial information of unknown areas.…
Multi-robot systems have increasingly become instrumental in tackling search and coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive,…
This paper studies the problem of controlling a multi-robot system to achieve a polygon formation in a self-organized manner. Different from the typical formation control strategies where robots are steered to satisfy the predefined control…
In this work, we address the problem of multi-robot adaptive coverage, where teams of robots perform dynamic sampling by continuously adjusting their positions to collect data in an environment. This task can be challenging, particularly…
Given a set of $n\geq 1$ autonomous, anonymous, indistinguishable, silent, and possibly disoriented mobile unit disk (i.e., fat) robots operating following Look-Compute-Move cycles in the Euclidean plane, we consider the Pattern Formation…
Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance problem in multi-robot navigation with unknown obstacles.…
The traditional distributed model of autonomous, homogeneous, mobile point robots usually assumes that the robots do not create any visual obstruction for the other robots, i.e., the robots are see through. In this paper, we consider a…
This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…
In this paper we study the Near-Gathering problem for a finite set of dimensionless, deterministic, asynchronous, anonymous, oblivious and autonomous mobile robots with limited visibility moving in the Euclidean plane in Look-Compute-Move…
We propose distributed algorithms to automatically deploy a team of mobile robots to partition and provide coverage of a non-convex environment. To handle arbitrary non-convex environments, we represent them as graphs. Our partitioning and…