Related papers: Certified Universal Gathering in $R^2$ for Oblivio…
Recent advances in control robot methods, from end-to-end vision-language-action frameworks to modular systems with predefined primitives, have advanced robots' ability to follow natural language instructions. Nonetheless, many approaches…
While general object recognition is still far from being solved, this paper proposes a way for a robot to recognize every object at an almost human-level accuracy. Our key observation is that many robots will stay in a relatively closed…
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…
In this paper, we propose a distributed algorithm to uniformly scatter the robots along a grid, with robots on alternate nodes of this grid distribution. These homogeneous, autonomous mobile robots place themselves equidistant apart on the…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
The ability to automatically encircle boundaries with mobile robots is crucial for tasks such as border tracking and object enclosing. Previous research has primarily focused on regular boundaries, often assuming that their geometric…
The Arbitrary Pattern Formation problem asks for a distributed algorithm that moves a set of autonomous mobile robots to form any arbitrary pattern given as input. The robots are assumed to be autonomous, anonymous and identical. They…
Swarm robotics utilises decentralised self-organising systems to form complex collective behaviours built from the bottom-up using individuals that have limited capabilities. Previous work has shown that simple occlusion-based strategies…
This paper addresses the topic of robustness under sensing noise, ambiguous instructions, and human-robot interaction. We take a radically different tack to the issue of reliable embodied AI: instead of focusing on formal verification…
Many task domains require robots to interpret and act upon natural language commands which are given by people and which refer to the robot's physical surroundings. Such interpretation is known variously as the symbol grounding problem,…
Gathering is a fundamental coordination problem in swarm robotics, where the objective is to bring robots together at a point not known to them at the beginning. While most research focuses on continuous domains, some studies also examine…
This paper presents a deterministic algorithm for forming a given asymmetric pattern in finite time by a set of autonomous, homogeneous, oblivious mobile robots under the CORDA model. The robots are represented as points on the 2D plane.…
Physical intelligence holds immense promise for advancing embodied intelligence, enabling robots to acquire complex behaviors from demonstrations. However, achieving generalization and transfer across diverse robotic platforms and…
Given a set of robots with arbitrary initial location and no agreement on a global coordinate system, convergence requires that all robots asymptotically approach the exact same, but unknown beforehand, location. Robots are oblivious-- they…
Cooperative robots can significantly assist people in their productive activities, improving the quality of their works. Collision detection is vital to ensure the safe and stable operation of cooperative robots in productive activities. As…
In this paper, we present a learning approach to goal assignment and trajectory planning for unlabeled robots operating in 2D, obstacle-filled workspaces. More specifically, we tackle the unlabeled multi-robot motion planning problem with…
The emergent behaviour of autonomous robotic swarms poses a significant challenge to their safety assurance. Assurance tasks encompass adherence to standards, certification processes, and the execution of verification and validation (V&V)…
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…
Object rearrangement is a widely-applicable and challenging task for robots. Geometric constraints must be carefully examined to avoid collisions and combinatorial issues arise as the number of objects increases. This work studies the…
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…