Related papers: Towards Gathering Robots with Limited View in Line…
A robotic network is a system with multiple robots connected by a communication network. Certain tasks that cannot be accomplished with available robotic resources are candidates for the use of cloud robotics, which overcomes the…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
The exploration problem in the discrete universe, using identical oblivious asynchronous robots without direct communication, has been well investigated. These robots have sensors that allow them to see their environment and move…
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…
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…
Collective intelligence and autonomy of robot swarms can be improved by enabling the individual robots to become aware they are the constituent units of a larger whole and what is their role. In this study, we present an algorithm to enable…
This paper addresses the autonomous robot ergodicity problem for efficient environment exploration. The spatial distribution as a reference is given by a mixture of Gaussian and the mass generation of the robot is assumed to be skinny…
Time synchronization is a critical task in robotic computing such as autonomous driving. In the past few years, as we developed advanced robotic applications, our synchronization system has evolved as well. In this paper, we first introduce…
When a large number of robots try to reach a common area, congestions happen, causing severe delays. To minimise congestion in a robotic swarm system, traffic control algorithms must be employed in a decentralised manner. Based on…
Legged robots with closed-loop kinematic chains are increasingly prevalent due to their increased mobility and efficiency. Yet, most motion generation methods rely on serial-chain approximations, sidestepping their specific constraints and…
In this paper, we investigate the possibility to deterministically solve the gathering problem (GP) with weak robots (anonymous, autonomous, disoriented, deaf and dumb, and oblivious). We introduce strong multiplicity detection as the…
The gathering problem requires a set of mobile agents, arbitrarily positioned at different nodes of a network to group within finite time at the same location, not fixed in advanced. The extensive existing literature on this problem shares…
Concurrent synchronization is a regime where diverse groups of fully synchronized dynamic systems stably coexist. We study global exponential synchronization and concurrent synchronization in the context of Lagrangian systems control. In a…
In their seminal work, Gauci et al. (2014) studied the fundamental task of aggregation, wherein multiple robots need to gather without an a priori agreed-upon meeting location, using minimal hardware. That paper considered…
Mobile robots, especially unmanned aerial vehicles (UAVs), are of increasing interest for surveillance and disaster response scenarios. We consider the problem of multi-robot persistent surveillance with connectivity constraints where…
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…
Robots are becoming an increasingly common part of scientific work within laboratory environments. In this paper, we investigate the problem of designing \emph{schedules} for completing a set of tasks at fixed locations with multiple robots…
We study the Rendezvous problem for 2 autonomous mobile robots in asynchronous settings with persistent memory called light. It is well known that Rendezvous is impossible in a basic model when robots have no lights, even if the system is…
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…
Among fundamental problems in the context of distributed computing by autonomous mobile entities, one of the most representative and well studied is {\sc Point Convergence}: given an arbitrary initial configuration of identical entities,…