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Situationally-aware artificial agents operating with competence in natural environments face several challenges: spatial awareness, object affordance detection, dynamic changes and unpredictability. A critical challenge is the agent's…
While today's robots are able to perform sophisticated tasks, they can only act on objects they have been trained to recognize. This is a severe limitation: any robot will inevitably see new objects in unconstrained settings, and thus will…
Robust and flexible leader-following is a critical capability for robots to integrate into human society. While existing methods struggle to generalize to leaders of arbitrary form and often fail when the leader temporarily leaves the…
\textsc{Arbitrary Pattern Formation} is a fundamental problem in autonomous mobile robot systems. The problem asks to design a distributed algorithm that moves a team of autonomous, anonymous and identical mobile robots to form any…
Timed automata (TAs) are an extension of finite automata that can measure and react to the passage of time, providing the ability to handle real-time constraints using clocks. In 2009, Franck Cassez showed that the timed opacity problem,…
We consider a distributed system of n identical mobile robots operating in the two dimensional Euclidian plane. As in the previous studies, we consider the robots to be anonymous, oblivious, dis-oriented, and without any communication…
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…
This paper investigates the decidability of opacity in timed automata (TA), a property that has been proven to be undecidable in general. First, we address a theoretical gap in recent work by J. An et al. (FM 2024) by providing necessary…
We consider problems in which robots conspire to present a view of the world that differs from reality. The inquiry is motivated by the problem of validating robot behavior physically despite there being a discrepancy between the robots we…
Existing scene understanding systems mainly focus on recognizing the visible parts of a scene, ignoring the intact appearance of physical objects in the real-world. Concurrently, image completion has aimed to create plausible appearance for…
In ground-view object change detection, the recently emerging mapless navigation has great potential to navigate a robot to objects distantly detected (e.g., books, cups, clothes) and acquire high-resolution object images, to identify their…
We consider the fundamental benchmarking problem of gathering in an $(N,f)$-fault system consisting of $N$ robots, of which at most $f$ might fail at any execution, under asynchrony. Two seminal results established impossibility of a…
Topological localization is a fundamental problem in mobile robotics, since robots must be able to determine their position in order to accomplish tasks. Visual localization and place recognition are challenging due to perceptual ambiguity,…
In this paper, we address the problem of vision-based obstacle avoidance for robotic manipulators. This topic poses challenges for both perception and motion generation. While most work in the field aims at improving one of those aspects,…
We consider an ideal invisibility cloak which is illuminated by monochromatic light and which moves in vacuum at constant relativistic velocity with respect to the common inertial frame of light source and observer. We show that, in…
In this paper we consider the problem of navigation and motion control in an area densely populated with other agents. We propose an algorithm that, without explicit communication and based on the information it has, computes the best…
Interest in collective robotic systems has increased rapidly due to the potential benefits that can be offered to operators, such as increased safety and support, who perform challenging tasks in high-risk environments. Human-collective…
The opaqueness of many complex machine learning algorithms is often mentioned as one of the main obstacles to the ethical development of artificial intelligence (AI). But what does it mean for an algorithm to be opaque? Highly complex…
Arbitrary pattern formation ($\mathcal{APF}$) by mobile robots is studied by many in literature under different conditions and environment. Recently it has been studied on an infinite grid network but with full visibility. In opaque robot…
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…