Related papers: Ant Robotics: Covering Continuous Domains by Multi…
In a connected graph with an autonomous robot swarm with limited visibility, it is natural to ask whether the robots can be deployed to certain vertices satisfying a given property using only local knowledge. This paper affirmatively…
Ant Colony Optimization (ACO) is a very popular metaheuristic for solving computationally hard combinatorial optimization problems. Runtime analysis of ACO with respect to various pseudo-boolean functions and different graph based…
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…
With the increasing demand and complexity of networks, factors such as balancing the load, improving the performance, reducing delay and finding optimal path between nodes in a computer network have become crucial. The traditional routing…
Multi-Robot Coverage problems have been extensively studied in robotics, planning and multi-agent systems. In this work, we consider the coverage problem when there are constraints on the proximity (e.g., maximum distance between the…
Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…
Core periphery structure represents a meso-scale structure in networks, characterized by a dense interconnection of core nodes and sparse connections among peripheral nodes. In this paper, we introduce an innovative approach for detecting…
Ant algorithms are inspired in real ants and the main idea is to create virtual ants that travel into the space of possible solution depositing virtual pheromone proportional to how good a specific solution is. This creates a autocatalytic…
Multi robot teams composed by ground and aerial vehicles have gained attention during the last years. We present a scenario where both types of robots must monitor the same area from different view points. In this paper we propose two…
We consider the problem of completely covering an unknown discrete environment with a swarm of asynchronous, frequently-crashing autonomous mobile robots. We represent the environment by a discrete graph, and task the robots with occupying…
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…
This article presents a unique design for a parser using the Ant Colony Optimization algorithm. The paper implements the intuitive thought process of human mind through the activities of artificial ants. The scheme presented here uses a…
Ant Colony Optimization (ACO) is a metaheuristic for solving difficult discrete optimization problems. This paper presents a deterministic model based on differential equation to analyze the dynamics of basic Ant System algorithm.…
In this paper, we present a communication-free algorithm for distributed coverage of an arbitrary network by a group of mobile agents with local sensing capabilities. The network is represented as a graph, and the agents are arbitrarily…
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…
The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for…
In this work, we study the problem of dispersion of mobile robots on dynamic rings. The problem of dispersion of $n$ robots on an $n$ node graph, introduced by Augustine and Moses Jr. [1], requires robots to coordinate with each other and…
This paper addresses the complete area coverage problem of a known environment by multiple-robots. Complete area coverage is the problem of moving an end-effector over all available space while avoiding existing obstacles. In such tasks,…
Multi-agent coverage control is used as a mechanism to influence the behavior of a group of robots by introducing time-varying domain. The coverage optimization problem is modified to adopt time-varying domains, and the proposed control law…
We present algorithms for uniformly covering an unknown indoor region with a swarm of simple, anonymous and autonomous mobile agents. The exploration of such regions is made difficult by the lack of a common global reference frame, severe…