Related papers: A Distributed Algorithm for Gathering Many Fat Mob…
This work focuses on the following question related to the Gathering problem of $n$ autonomous, mobile robots in the Euclidean plane: Is it possible to solve Gathering of robots that do not agree on any axis of their coordinate systems…
We consider a swarm of $n$ robots in \mathbb{R}^d. The robots are oblivious, disoriented (no common coordinate system/compass), and have limited visibility (observe other robots up to a constant distance). The basic formation task gathering…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
We study the Gathering problem for n autonomous mobile robots in semi-synchronous settings with persistent memory called light. It is well known that Gathering is impossible in a basic model when robots have no lights, if the system is…
This paper considers the problem of routing and rebalancing a shared fleet of autonomous (i.e., self-driving) vehicles providing on-demand mobility within a capacitated transportation network, where congestion might disrupt throughput. We…
In the field of swarm robotics, one of the most studied problem is Gathering. It asks for a distributed algorithm that brings the robots to a common location, not known in advance. We consider the case of robots constrained to move along…
Consider a set of $n$ mobile entities, called robots, located and operating on a continuous circle, i.e., all robots are initially in distinct locations on a circle. The \textit{gathering} problem asks to design a distributed algorithm that…
Creating a swarm of mobile computing entities frequently called robots, agents or sensor nodes, with self-organization ability is a contemporary challenge in distributed computing. Motivated by this, we investigate the plane formation…
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…
In this paper, the parking problem of a swarm of mobile robots has been studied. The robots are deployed at the nodes of an infinite grid, which has a subset of prefixed nodes marked as parking nodes. Each parking node p_i has a capacity of…
We present a new algorithm for the problem of universal gathering mobile oblivious robots (that is, starting from any initial configuration that is not bivalent, using any number of robots, the robots reach in a finite number of steps the…
In this chapter, we propose a novel approach for solving the coordination of a fleet of mobile robots, which consists of finding a set of collision-free trajectories for individual robots in the fleet. This problem is studied for several…
Recent advances in Distributed Computing highlight models and algorithms for autonomous swarms of mobile robots that self-organise and cooperate to solve global objectives. The overwhelming majority of works so far considers handmade…
In this paper, we propose a distributed algorithm to uniformly scatter the robots along a grid, with robots on alternate nodes of this grid distribution. These homogeneous, autonomous mobile robots place themselves equidistant apart on the…
This work presents an efficient and implementable solution to the problem of joint task allocation and path planning in a multi-UAV platform deployed for biometric data collection in-the-wild. The sensing requirement associated with the…
We consider the problem of organizing a scattered group of $n$ robots in two-dimensional space, with geometric maximum distance $D$ between robots. The communication graph of the swarm is connected, but there is no central authority for…
This paper presents a distributed painting algorithm for painting a priori known rectangular region by swarm of autonomous mobile robots. We assume that the region is obstacle free and of rectangular in shape. The basic approach is to…
In this paper we address the complexity issues of two agreement problems in oblivious robot networks namely gathering and scattering. These abstractions are fundamental coordination problems in cooperative mobile robotics. Moreover, their…
In this paper, we consider a large-scale instance of the classical Pickup-and-Delivery Vehicle Routing Problem (PDVRP) that must be solved by a network of mobile cooperating robots. Robots must self-coordinate and self-allocate a set of…
In the general pattern formation (GPF) problem, a swarm of simple autonomous, disoriented robots must form a given pattern. The robots' simplicity imply a strong limitation: When the initial configuration is rotationally symmetric, only…