Related papers: Square Formation by Asynchronous Oblivious Robots
Consider a finite set of identical computational entities that can move freely in the Euclidean plane operating in Look-Compute-Move cycles. Let p(t) denote the location of entity p at time t; entity p can see entity q at time t if at that…
We consider a team of $k$ identical, oblivious, asynchronous mobile robots that are able to sense (\emph{i.e.}, view) their environment, yet are unable to communicate, and evolve on a constrained path. Previous results in this weak scenario…
The Meeting problem for $k\geq 2$ searchers in a polygon $P$ (possibly with holes) consists in making the searchers move within $P$, according to a distributed algorithm, in such a way that at least two of them eventually come to see each…
In this paper we address the complexity issues of two agreement problems in oblivious robot networks namely gathering and scattering. These abstractions are fundamental coordination problems in cooperative mobile robotics. Moreover, their…
This paper presents a role-adaptive Leader-Follower-based formation planning and control framework for teams of quadruped robots operating in cluttered environments. Unlike conventional methods with fixed leaders or rigid formation roles,…
Recent advances in Distributed Computing highlight models and algorithms for autonomous swarms of mobile robots that self-organise and cooperate to solve global objectives. The overwhelming majority of works so far considers handmade…
Robots with very limited capabilities are placed on the vertices of a graph and are required to move toward a single, common vertex, where they remain stationary once they arrive. This task is referred to as the GATHERING problem. Most of…
Robots with lights is a model of autonomous mobile computational entities operating in the plane in Look-Compute-Move cycles: each agent has an externally visible light which can assume colors from a fixed set; the lights are persistent…
An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…
We consider a swarm of $n$ robots in \mathbb{R}^d. The robots are oblivious, disoriented (no common coordinate system/compass), and have limited visibility (observe other robots up to a constant distance). The basic formation task gathering…
Gathering mobile robots is a widely studied problem in robotic research. This survey first introduces the related work, summarizing models and results. Then, the focus shifts on the open problem of gathering fat robots. In this context,…
Given a set of co-located mobile robots in an unknown anonymous graph, the robots must relocate themselves in distinct graph nodes to solve the dispersion problem. In this paper, we consider the dispersion problem for silent robots…
This paper proposes a distributed algorithm which deterministically gathers n (n > 4) asynchronous, fat robots. The robots are assumed to be transparent and they have full visibility. The robots are initially considered to be stationary. A…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
We propose a gathering protocol for an even number of robots in a ring-shaped network that allows symmetric but not periodic configurations as initial configurations, yet uses only local weak multiplicity detection. Robots are assumed to be…
The Gathering problem for a swarm of robots asks for a distributed algorithm that brings such entities to a common place, not known in advance. We consider the well-known OBLOT model with robots constrained to move along the edges of a…
This paper studies the problem of controlling a multi-robot system to achieve a polygon formation in a self-organized manner. Different from the typical formation control strategies where robots are steered to satisfy the predefined control…
Spatio-temporal patterns emerging from an initial quiescent, uniform state is a phenomenon observed in many dynamical systems sustained far from thermodynamic equilibrium, the practical application of which has only recently begun to be…
We consider systems made of autonomous mobile robots evolving in highly dynamic discrete environment i.e., graphs where edges may appear and disappear unpredictably without any recurrence, stability, nor periodicity assumption. Robots are…
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,…