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Whereas naturally occurring swarms thrive when crowded, physical interactions in robotic swarms are either avoided or carefully controlled, thus limiting their operational density. Here we present a mechanical design rule that allows robots…
In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior…
We present a unified formal framework for expressing mobile robots models, protocols, and proofs, and devise a protocol design/proof methodology dedicated to mobile robots that takes advantage of this formal framework. As a case study, we…
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…
Learning motion planners to move robot from one point to another within an obstacle-occupied space in a collision-free manner requires either an extensive amount of data or high-quality demonstrations. This requirement is caused by the fact…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
Despite the attention that the problem of path planning for tethered robots has garnered in the past few decades, the approaches proposed to solve it typically rely on a discrete representation of the configuration space and do not exploit…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
Coordination of local and global aerial traffic has become a legal and technological bottleneck as the number of unmanned vehicles in the common airspace continues to grow. To meet this challenge, automation and decentralization of control…
In this paper we investigate the computational power of a set of mobile robots with limited visibility. At each iteration, a robot takes a snapshot of its surroundings, uses the snapshot to compute a destination point, and it moves toward…
Spatial knowledge is a fundamental building block for the development of advanced perceptive and cognitive abilities. Traditionally, in robotics, the Euclidean (x,y,z) coordinate system and the agent's forward model are defined a priori. We…
The increasing presence of robots in human environments requires them to exhibit socially appropriate behavior, adhering to social norms. A critical aspect in this context is the concept of personal space, a psychological boundary around an…
Mobile robots dedicated in security tasks should be capable of clearly perceiving their environment to competently navigate within cluttered areas, so as to accomplish their assigned mission. The paper in hand describes such an autonomous…
This paper presents a novel approach to build consistent 3D maps for multi robot cooperation in USAR environments. The sensor streams from unmanned aerial vehicles (UAVs) and ground robots (UGV) are fused in one consistent map. The UAV…
The problem of robotic synchronisation and coordination is a long-standing one. Combining autonomous, computerised systems with unpredictable real-world conditions can have consequences ranging from poor performance to collisions and…
We consider path planning for a rigid spatial robot moving amidst polyhedral obstacles. Our robot is either a rod or a ring. Being axially-symmetric, their configuration space is R^3 x S^2 with 5 degrees of freedom (DOF). Correct, complete…
Leader election and arbitrary pattern formation are funda- mental tasks for a set of autonomous mobile robots. The former consists in distinguishing a unique robot, called the leader. The latter aims in arranging the robots in the plane to…
In this paper we propose and prove correct a new self-stabilizing velocity agreement (flocking) algorithm for oblivious and asynchronous robot networks. Our algorithm allows a flock of uniform robots to follow a flock head emergent during…
This paper presents decentralized algorithms for formation control of multiple robots in three dimensions. Specifically, we leverage the mathematical properties of cyclic pursuit along with results from contraction and partial contraction…
Despite the great progress in quadrupedal robotics during the last decade, selecting good contacts (footholds) in highly uneven and cluttered environments still remains an open challenge. This paper builds upon a state-of-the-art approach,…