Related papers: Computability of Perpetual Exploration in Highly D…
We study the algorithmic decidability of the domination number in the Erdos-Renyi random graph model $G(n,p)$. We show that for a carefully chosen edge probability $p=p(n)$, the domination problem exhibits a strong irreducible property.…
We investigate the terminating grid exploration for autonomous myopic luminous robots. Myopic robots mean that they can observe nodes only within a certain fixed distance, and luminous robots mean that they have light devices that can emit…
This paper introduces a graph-based, potential-guided method for path planning problems in unknown environments, where obstacles are unknown until the robots are in close proximity to the obstacle locations. Inspired by optimal transport…
We consider the problem of exploration of networks, some of whose edges are faulty. A mobile agent, situated at a starting node and unaware of which edges are faulty, has to explore the connected fault-free component of this node by…
We are given $N$ autonomous mobile robots inside a bounded region. The robots are opaque which means that three collinear robots are unable to see each other as one of the robots acts as an obstruction for the other two. They operate in…
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…
In this work we address the question of efficiency of distributed computing in anonymous, congested and highly dynamic and not-always-connected networks/systems. More precisely, the system consists of an unknown number of anonymous nodes…
Anonymous mobile robots are often classified into synchronous, semi-synchronous and asynchronous robots when discussing the pattern formation problem. For semi-synchronous robots, all patterns formable with memory are also formable without…
Autonomous exploration requires a robot to explore an unknown environment while constructing an accurate map using Simultaneous Localization and Mapping (SLAM) techniques. Without prior information, the exploration performance is usually…
A hybrid map representation, which consists of a modified generalized Voronoi Diagram (GVD)-based topological map and a grid-based metric map, is proposed to facilitate a new frontier-driven exploration strategy. Exploration frontiers are…
A key challenge to understanding self-awareness has been a principled way of quantifying whether an intelligent system has a concept of a "self", and if so how to differentiate the "self" from other cognitive structures. We propose that the…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
In this work, we present a novel distributed method for constructing an occupancy grid map of an unknown environment using a swarm of robots with global localization capabilities and limited inter-robot communication. The robots explore the…
Multi-robot planning and coordination in uncertain environments is a fundamental computational challenge, since the belief space increases exponentially with the number of robots. In this paper, we address the problem of planning in…
We consider a set of k autonomous robots that are endowed with visibility sensors (but that are otherwise unable to communicate) and motion actuators. Those robots must collaborate to reach a sin- gle vertex that is unknown beforehand, and…
In this paper, we have considered two fully synchronous $\mathcal{OBLOT}$ robots having no agreement on coordinates entering a finite unoriented grid through a door vertex at a corner, one by one. There is a resource that can move around…
We study the problem of deterministically exploring an undirected and initially unknown graph with $n$ vertices either by a single agent equipped with a set of pebbles, or by a set of collaborating agents. The vertices of the graph are…
We consider the problem of searching for an intruder in a geometric domain by utilizing multiple search robots. The domain is a simply connected orthogonal polygon with edges parallel to the cartesian coordinate axes. Each robot has a…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
We study the rendezvous problem for two robots moving in the plane (or on a line). Robots are autonomous, anonymous, oblivious, and carry colored lights that are visible to both. We consider deterministic distributed algorithms in which…