Related papers: The Random Bit Complexity of Mobile Robots Scatter…

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…

In a fixed-confidence pure exploration problem in stochastic multi-armed bandits, an algorithm iteratively samples arms and should stop as early as possible and return the correct answer to a query about the arms distributions. We are…

We present an algorithm to solve the problem of locating the source, or maxima, of a scalar field using a robot swarm. We demonstrate how the robot swarm determines its direction of movement to approach the source using only field intensity…

Multi-robot task allocation is one of the most fundamental classes of problems in robotics and is crucial for various real-world robotic applications such as search, rescue and area exploration. We consider the Single-Task robots and…

We consider metrical task systems on general metric spaces with $n$ points, and show that any fully randomized algorithm can be turned into a randomized algorithm that uses only $2\log n$ random bits, and achieves the same competitive ratio…

We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…

We explore the fundamental limits of distributed balls-into-bins algorithms. We present an adaptive symmetric algorithm that achieves a bin load of two in log* n+O(1) communication rounds using O(n) messages in total. Larger bin loads can…

When designing swarm-robotic systems, systematic comparison of algorithms from different domains is necessary to determine which is capable of scaling up to handle the target problem size and target operating conditions. We propose a set of…

Gathering mobile robots is a widely studied problem in robotic research. This survey first introduces the related work, summarizing models and results. Then, the focus shifts on the open problem of gathering fat robots. In this context,…

We characterize the advantage of using a robot's neighborhood to find and eliminate adversarial robots in the presence of a Sybil attack. We show that by leveraging the opinions of its neighbors on the trustworthiness of transmitted data,…

In this paper, we consider a network of processors aiming at cooperatively solving mixed-integer convex programs subject to uncertainty. Each node only knows a common cost function and its local uncertain constraint set. We propose a…

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…

Dispersion by mobile agents is a well studied problem in the literature on computing by mobile robots. In this problem, $l$ robots placed arbitrarily on nodes of a network having $n$ nodes are asked to relocate themselves autonomously so…

We consider n robots with limited visibility: each robot can observe other robots only up to a constant distance denoted as the viewing range. The robots operate in discrete rounds that are either fully synchronous (FSync) or…

We propose a self-contained, resilient and fully distributed solution for locating the maximum of an unknown scalar field using a swarm of robots that travel at a constant speed. Unlike conventional reactive methods relying on gradient…

Robots with very limited capabilities are placed on the vertices of a graph and are required to move toward a single, common vertex, where they remain stationary once they arrive. This task is referred to as the GATHERING problem. Most of…

Aggregation is a fundamental behavior for swarm robotics that requires a system to gather together in a compact, connected cluster. In 2014, Gauci et al. proposed a surprising algorithm that reliably achieves swarm aggregation using only a…

In this paper, we first formalize the problem to be solved, i.e., the Scatter Problem (SP). We then show that SP cannot be deterministically solved. Next, we propose a randomized algorithm for this problem. The proposed solution is…

For a team of heterogeneous robots executing multiple tasks, we propose a novel algorithm to optimally allocate tasks to robots while accounting for their different capabilities. Motivated by the need that robot teams have in many…

Over the past 30 years numerous algorithms have been designed for symmetry breaking problems in the LOCAL model, such as maximal matching, MIS, vertex coloring, and edge-coloring. For most problems the best randomized algorithm is at least…