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We consider the problem of walking in an unknown street, for a robot that has a minimal sensing capability. The robot is equipped with a sensor that only detects the discontinuities in depth information (gaps) and can locate the target…
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…
Sampling-based methods for motion planning, which capture the structure of the robot's free space via (typically random) sampling, have gained popularity due to their scalability, simplicity, and for offering global guarantees, such as…
Space exploration missions have seen use of increasingly sophisticated robotic systems with ever more autonomy. Deep learning promises to take this even a step further, and has applications for high-level tasks, like path planning, as well…
It is well stablished that danger information can be transmitted by ants through relatively small distances, provoking either a state of alarm when they move away from potentially dangerous stimulus, or charge toward it aggressively. There…
We study a discrete random walk on a one-dimensional finite lattice, where each state has different probabilities to move one step forward, backward, staying for a moment or being absorbed. We obtain expected number of arrivals and expected…
Path planning through complex obstacle spaces is a fundamental requirement of many mobile robot applications. Recently a rapid convergence path planning algorithm, Batch Informed Trees (BIT*), was introduced. This work serves as a concise…
We propose two modeling approaches to describe the dynamics of ant battles, starting from laboratory experiments on the behavior of two ant species, the invasive Lasius neglectus and the authocthonus Lasius paralienus. This work is mainly…
Starting from a simple animal-biology example, a general, somewhat counter-intuitive property of diffusion random walks is presented. It is shown that for any (non-homogeneous) purely diffusing system, under any isotropic uniform incidence,…
A team of mobile agents, starting from distinct nodes of a network, have to meet at the same node and declare that they all met. Agents execute the same algorithm, which they start when activated by an adversary or by an agent entering…
Addressing a fundamental problem in programmable matter, we present the first deterministic algorithm to elect a unique leader in a system of connected amoebots assuming only that amoebots are initially contracted. Previous algorithms…
Two identical anonymous mobile agents have to meet at a node of the infinite oriented grid whose nodes are unlabeled. This problem is known as rendezvous. The agents execute the same deterministic algorithm. Time is divided into rounds, and…
Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…
A diversity of decision-making systems has been observed in animal collectives. In some species, choices depend on the differences of the numbers of animals that have chosen each of the available options, while in other species on the…
Using a simple model for the trail formation of ants, the relation between i)the schedule of feeding which represents the unsteady natural environment, ii)emerging patterns of trails connecting a nest with food resources, and iii)the…
In this work we studied the trajectories, velocities and densities of ants when egressing under controlled levels of stress produced by a chemical repellent at different concentrations. We found that, unlike other animals escaping under…
Consider the Ants Nearby Treasure Search (ANTS) problem introduced by Feinerman, Korman, Lotker, and Sereni (PODC 2012), where $n$ mobile agents, initially placed at the origin of an infinite grid, collaboratively search for an…
In a self-organizing particle system, an abstraction of programmable matter, simple computational elements called particles with limited memory and communication self-organize to solve system-wide problems of movement, coordination, and…
We consider in this article an Elephant Random Walk evolving in the plane. Specifically, this is a reinforced stochastic process in which the $n$th step is given by a random rotation of one of the previous steps chosen uniformly at random.…
The most common way for robots to handle environmental information is by using maps. At present, each kind of data is hosted on a separate map, which complicates planning because a robot attempting to perform a task needs to access and…