Related papers: Computability of Perpetual Exploration in Highly D…
This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system. The objective is to produce a covering of an unknown workspace by a fixed number of robots such that the covered…
Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This paper presents a novel approach that utilizes a…
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…
The aim of the dispersion problem is to place a set of $k(\leq n)$ mobile robots in the nodes of an unknown graph consisting of $n$ nodes such that in the final configuration each node contains at most one robot, starting from any arbitrary…
We investigate the online exploration problem (aka covering) of a short-sighted mobile robot moving in an unknown cellular environment with hexagons and triangles as types of cells. To explore a cell, the robot must enter it. Once inside,…
Arbitrary Pattern Formation (APF) is a fundamental coordination problem in swarm robotics. It requires a set of autonomous robots (mobile computing units) to form an arbitrary pattern (given as input) starting from any initial pattern. This…
The gathering over meeting nodes problem requires the robots to gather at one of the pre-defined meeting nodes. This paper investigates the problem with respect to the objective function that minimizes the total number of moves made by all…
We study certain topological problems that are inspired by applications to autonomous robot manipulation. Consider a continuous map $f\colon X\to Y$, where $f$ can be a kinematic map from the configuration space $X$ to the working space $Y$…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
Finding patterns in graphs is a fundamental problem in databases and data mining. In many applications, graphs are temporal and evolve over time, so we are interested in finding durable patterns, such as triangles and paths, which persist…
Exploration is a fundamental problem in robot autonomy. A major limitation, however, is that during exploration robots oftentimes have to rely on on-board systems alone for state estimation, accumulating significant drift over time in large…
A mobile agent, starting from a node $s$ of a simple undirected connected graph $G=(V,E)$, has to explore all nodes and edges of $G$ using the minimum number of edge traversals. To do so, the agent uses a deterministic algorithm that allows…
Isoperimetric robots are large scale, untethered inflatable robots that can undergo large shape changes, but have only been demonstrated in one 3D shape -- an octahedron. These robots consist of independent triangles that can change shape…
Inspired by notorious combinatorial optimization problems on graphs, in this paper we consider a series of related problems defined using a metric space and topology determined by a graph. Particularly, we present the Independent Set,…
Two mobile agents (robots) with distinct labels have to meet in an arbitrary, possibly infinite, unknown connected graph or in an unknown connected terrain in the plane. Agents are modeled as points, and the route of each of them only…
As autonomous robots increasingly become part of daily life, they will often encounter dynamic environments while only having limited information about their surroundings. Unfortunately, due to the possible presence of malicious dynamic…
Highly dynamic networks are characterized by frequent changes in the availability of communication links. These networks are often partitioned into several components, which split and merge unpredictably. We present a distributed algorithm…
In the arbitrary pattern formation problem, $n$ autonomous, mobile robots must form an arbitrary pattern $P \subseteq \mathbb{R}^2$. The (deterministic) robots are typically assumed to be indistinguishable, disoriented, and unable to…
We investigate the decidability of the emptiness problem for three classes of distributed automata. These devices operate on finite directed graphs, acting as networks of identical finite-state machines that communicate in an infinite…
We consider the gathering problem for asynchronous and oblivious robots that cannot communicate explicitly with each other, but are endowed with visibility sensors that allow them to see the positions of the other robots. Most of the…