Related papers: A Distributed Algorithm for Gathering Many Fat Mob…
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…
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…
A swarm of anonymous oblivious mobile robots, operating in deterministic Look-Compute-Move cycles, is confined within a circular track. All robots agree on the clockwise direction (chirality), they are activated by an adversarial…
An autonomous mobile robot system is a distributed system consisting of mobile computational entities (called robots) that autonomously and repeatedly perform three operations: Look, Compute, and Move. Various problems related to autonomous…
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…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
Consider a system of autonomous mobile robots initially randomly deployed on the nodes of an anonymous finite grid. A gathering algorithm is a sequence of moves to be executed independently by each robot so that all robots meet at a single…
This work addresses the gathering problem for a set of autonomous, anonymous, and homogeneous robots with limited visibility operating in a continuous circle. The robots are initially placed at distinct positions, forming a rotationally…
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…
Given a set of $n\geq 1$ unit disk robots in the Euclidean plane, we consider the Pattern Formation problem, i.e., the robots must reposition themselves to form a given target pattern. This problem arises under obstructed visibility, where…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
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…
Two fundamental problems of distributed computing are Gathering and Arbitrary pattern formation (\textsc{Apf}). These two tasks are different in nature as in gathering robots meet at a point but in \textsc{Apf} robots form a fixed pattern…
In the gathering problem, n autonomous robots have to meet on a single point. We consider the gathering of a closed chain of point-shaped, anonymous robots on a grid. The robots only have local knowledge about a constant number of…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
This paper proposes a distributed algorithm for a set of tiny unit disc shaped robot to form a straight line. The robots are homoge- neous, autonomous, anonymous. They observe their surrounding up to a certain distance, compute destinations…
We present a deep reinforcement learning-based framework for automatically discovering patterns available in any given initial configuration of fat robot swarms. In particular, we model the problem of collision-less gathering and mutual…
We consider a swarm of mobile robots evolving in a bidimensional Euclidean space. We study a variant of the crash-tolerant gathering problem: if no robot crashes, robots have to meet at the same arbitrary location, not known beforehand, in…
Consider a set of $n$ simple autonomous mobile robots (asynchronous, no common coordinate system, no identities, no central coordination, no direct communication, no memory of the past, non-rigid, deterministic) initially in distinct…
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…