Related papers: Asymptotic behaviour in the robot rendezvous probl…
A widely accepted explanation for robots planning overcautious or overaggressive trajectories alongside human is that the crowd density exceeds a threshold such that all feasible trajectories are considered unsafe -- the freezing robot…
We consider a variant of the crash-fault gathering problem called stand-up indulgent gathering (SUIG). In this problem, a group of mobile robots must eventually gather at a single location, which is not known in advance. If no robots crash,…
There has been a wide interest in designing distributed algorithms for tiny robots. In particular, it has been shown that the robots can complete certain tasks even in the presence of faulty robots. In this paper, we focus on gathering of…
We consider the mobile robot dispersion problem in the presence of faulty robots (crash-fault). Mobile robot dispersion consists of $k\leq n$ robots in an $n$-node anonymous graph. The goal is to ensure that regardless of the initial…
The overarching goal of this work is to efficiently enable end-users to correctly anticipate a robot's behavior in novel situations. Since a robot's behavior is often a direct result of its underlying objective function, our insight is that…
The study of computing in presence of faulty robots in the Look-Compute-Move model has been the object of extensive investigation, typically with the goal of designing algorithms tolerant to as many faults as possible. In this paper, we…
The adaptive regularization algorithm for unconstrained nonconvex optimization was shown in Nesterov and Polyak (2006) and Cartis, Gould and Toint (2011) to require, under standard assumptions, at most $\mathcal{O}(\epsilon^{3/(3-q)})$…
Random reshuffling with momentum (RRM) corresponds to the SGD optimizer with momentum option enabled, as found in many machine learning libraries like PyTorch and TensorFlow. Despite its widespread use, the convergence properties of RRM do…
In this work, we initiate the research about the Gathering problem for robots with limited viewing range in the three-dimensional Euclidean space. In the Gathering problem, a set of initially scattered robots is required to gather at the…
The difference between the speed of the actions of different processes is typically considered as an obstacle that makes the achievement of cooperative goals more difficult. In this work, we aim to highlight potential benefits of such…
We consider time-dependent convection-diffusion problems with high P\'eclet number of order $\mathcal{O}(\varepsilon^{-1})$ in thin three-dimensional graph-like networks consisting of cylinders that are interconnected by small domains…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
Two mobile agents (robots) have to meet in an a priori unknown bounded terrain modeled as a polygon, possibly with polygonal obstacles. Agents are modeled as points, and each of them is equipped with a compass. Compasses of agents may be…
In this work, we study the problem of dispersion of mobile robots on dynamic rings. The problem of dispersion of $n$ robots on an $n$ node graph, introduced by Augustine and Moses Jr. [1], requires robots to coordinate with each other and…
This paper introduces a new mobile sensor scheduling problem, involving a single robot tasked with monitoring several events of interest that occur at different locations. Of particular interest is the monitoring of transient events that…
Inverse kinematics (IK) is the problem of finding robot joint configurations that satisfy constraints on the position or pose of one or more end-effectors. For robots with redundant degrees of freedom, there is often an infinite, nonconvex…
Robots are used by humans not only as tools but also to interactively assist and cooperate with humans, thereby forming physical human-robot interactions. In these interactions, there is a risk that a feedback loop causes unstable force…
We study computationally-hard fundamental motion planning problems where the goal is to translate $k$ axis-aligned rectangular robots from their initial positions to their final positions without collision, and with the minimum number of…
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…
The design of a globally convergent position observer for feature points from visual information is a challenging problem, especially for the case with only inertial measurements and without assumptions of uniform observability, which…