Related papers: Computability of Perpetual Exploration in Highly D…
In this paper, we consider the problem of exploring unknown environments with autonomous agents. We model the environment as a graph with edge weights and analyze the task of visiting all vertices of the graph at least once. The hardness of…
In this paper, we study the problem of exploring an unknown Region Of Interest (ROI) with a team of aerial robots. The size and shape of the ROI are unknown to the robots. The objective is to find a tour for each robot such that each point…
We study the algorithmic problem of optimally covering a tree with $k$ mobile robots. The tree is known to all robots, and our goal is to assign a walk to each robot in such a way that the union of these walks covers the whole tree. We…
The introduction and study of dispersing mobile robots across the nodes of an anonymous graph have recently gained traction and have been explored within various graph classes and settings. While optimal dispersion solution was established…
This paper deals with the problem of autonomous navigation of a mobile robot in an unknown 2D environment to fully explore the environment as efficiently as possible. We assume a terrestrial mobile robot equipped with a ranging sensor with…
Network decontamination is a well-known problem, in which the aim of the mobile agents should be to decontaminate the network (i.e., both nodes and edges). This problem comes with an added constraint, i.e., of \emph{monotonicity}, in which…
An underactuated nonholonomic Dubins-vehicle-like robot with a lower-limited turning radius travels with a constant speed in a plane, which hosts unknown complex objects. The robot has to approach and then circumnavigate all objects, with…
Despite their growing popularity, swarms of robots remain limited by the operating time of each individual. We present algorithms which allow a human to sculpt a swarm of robots into a shape that persists in space perpetually, independent…
In distributed networks, it is often useful for the nodes to be aware of dense subgraphs, e.g., such a dense subgraph could reveal dense subtructures in otherwise sparse graphs (e.g. the World Wide Web or social networks); these might…
In this paper, we propose a method that, given a partial grid map of an indoor environment built by an autonomous mobile robot, estimates the amount of the explored area represented in the map, as well as whether the uncovered part is still…
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…
We investigate the exploration and mapping of anonymous graphs by a mobile agent. It is long known that, without global information about the graph, it is not possible to make the agent halt after the exploration except if the graph is a…
Consider a network that evolves according to a reversible, nearest neighbours dynamics. Is the dynamics allowed to vary the size of the network? On the one hand it seems that, being the principal carriers of information, nodes cannot be…
Multi-robot autonomous exploration in an unknown environment is an important application in robotics.Traditional exploration methods only use information around frontier points or viewpoints, ignoring spatial information of unknown areas.…
We study the problem of rendezvous of two mobile agents starting at distinct locations in an unknown graph. The agents have distinct labels and walk in synchronous steps. However the graph is unlabelled and the agents have no means of…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
We propose distributed algorithms to automatically deploy a team of mobile robots to partition and provide coverage of a non-convex environment. To handle arbitrary non-convex environments, we represent them as graphs. Our partitioning and…
This paper considers the path planning problem for autonomous exploration of an unknown environment using multiple heterogeneous robots such as drones, wheeled, and legged robots, which have different capabilities to traverse complex…
Graph databases in many applications---semantic web, transport or biological networks among others---are not only large, but also frequently modified. Evaluating graph queries in this dynamic context is a challenging task, as those queries…
Random graphs are a central element of the study of complex dynamical networks such as the internet, the brain, or socioeconomic phenomena. New methods to generate random graphs can spawn new applications and give insights into more…