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There are few industries which use manually controlled robots for carrying material and this cannot be used all the time in all the places. So, it is very tranquil to have robots which can follow a specific human by following the unique…
In order to track the moving objects in long range against occlusion, interruption, and background clutter, this paper proposes a unified approach for global trajectory analysis. Instead of the traditional frame-by-frame tracking, our…
To be useful in everyday environments, robots must be able to identify and locate real-world objects. In recent years, video object segmentation has made significant progress on densely separating such objects from background in real and…
We give a new, simple distributed algorithm for graph colouring in paths and cycles. Our algorithm is fast and self-contained, it does not need any globally consistent orientation, and it reduces the number of colours from $10^{100}$ to $3$…
Robots typically possess sensors of different modalities, such as colour cameras, inertial measurement units, and 3D laser scanners. Often, solving a particular problem becomes easier when more than one modality is used. However, while…
Combinatorial optimization is a fundamental problem found in many fields. In many real life situations, the constraints and the objective function forming the optimization problem are naturally distributed amongst different sites in some…
Unlike standard cameras that send intensity images at a constant frame rate, event-driven cameras asynchronously report pixel-level brightness changes, offering low latency and high temporal resolution (both in the order of micro-seconds).…
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…
Functional graphs (FGs) model the graph structures used to analyse the behaviour of functions from a discrete set to itself. In turn, such functions are used to study real complex phenomena evolving in time. As the systems involved can be…
An independent transversal (IT) in a graph with a given vertex partition is an independent set consisting of one vertex in each partition class. Several sufficient conditions are known for the existence of an IT in a given graph with a…
We study a variation of the graph colouring problem on random graphs of finite average connectivity. Given the number of colours, we aim to maximise the number of different colours at neighbouring vertices (i.e. one edge distance) of any…
Dynamic maneuvers for legged robots present a difficult challenge due to the complex dynamics and contact constraints. This paper introduces a versatile trajectory optimization framework for continuous-time multi-phase problems. We…
In the Coloured Clustering problem, we wish to colour vertices of an edge coloured graph to produce as many stable edges as possible, i.e., edges with the same colour as their ends. In this paper, we reveal that the problem is in fact a…
An optimization problem is at the heart of many robotics estimating, planning, and optimum control problems. Several attempts have been made at model-based multi-robot localization, and few have formulated the multi-robot collaborative…
We deal with a set of autonomous robots moving on an infinite grid. Those robots are opaque, have limited visibility capabilities, and run using synchronous Look-Compute-Move cycles. They all agree on a common chirality, but have no global…
We propose a general framework for creating parameterized control schemes for decentralized multi-robot systems. A variety of tasks can be seen in the decentralized multi-robot literature, each with many possible control schemes. For…
A novel multi-robot path planning approach is presented in this paper. Based on the standard Dijkstra, the algorithm looks for the optimal paths for a formation of robots, taking into account the possibility of split and merge. The…
We tackle three optimization problems in which a colored graph, where each node is assigned a color, must be partitioned into colorful connected components. A component is defined as colorful if each color appears at most once. The problems…
Edge-coloured directed graphs provide an essential structure for modelling and analysis of complex systems arising in many scientific disciplines (e.g. feature-oriented systems, gene regulatory networks, etc.). One of the fundamental…
In many robotics problems, there is a significant gain in collaborative information sharing between multiple robots, for exploration, search and rescue, tracking multiple targets, or mapping large environments. One of the key implicit…