Related papers: Computability of Perpetual Exploration in Highly D…
We introduce the notion of a "random basic walk" on an infinite graph, give numerous examples, list potential applications, and provide detailed comparisons between the random basic walk and existing generalizations of simple random walks.…
Computing the size of maximum independent sets is a NP-hard problem for fixed graphs. Characterizing and designing efficient algorithms to estimate this independence number for random graphs are notoriously difficult and still largely open…
When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…
The subject of this work is the patrolling of an environment with the aid of a team of autonomous agents. We consider both the design of open-loop trajectories with optimal properties, and of distributed control laws converging to optimal…
We consider the problem of constructing a maximum independent set with mobile myopic luminous robots on a grid network whose size is finite but unknown to the robots. In this setting, the robots enter the grid network one-by-one from a…
In this paper, we address the problem of autonomous multi-robot mapping, exploration and navigation in unknown, GPS-denied indoor or urban environments using a swarm of robots equipped with directional sensors with limited sensing…
We propose a way to transform synchronous distributed algorithms solving locally greedy and mendable problems into self-stabilizing algorithms in anonymous networks. Mendable problems are a generalization of greedy problems where any…
We study a generalized motion planning problem involving multiple autonomous robots navigating in a $d$-dimensional Euclidean space in the presence of a set of obstacles whose positions are unknown a priori. Each robot is required to visit…
Arbitrary Pattern Formation is a widely studied problem in autonomous robot systems. The problem asks to design a distributed algorithm that moves a team of autonomous, anonymous and identical mobile robots to form any arbitrary pattern…
The automatic design of robots has existed for 30 years but has been constricted by serial non-differentiable design evaluations, premature convergence to simple bodies or clumsy behaviors, and a lack of sim2real transfer to physical…
We address the problem of computing a Minimal Dominating Set in highly dynamic distributed systems. We assume weak connectivity, i.e., the network may be disconnected at each time instant and topological changes are unpredictable. We make…
Mainstream autonomous exploration methods usually perform excessively-repeated explorations for the same region, leading to long exploration time and exploration trajectory in complex scenes. To handle this issue, we propose a novel…
We study a recently introduced \textit{unconscious} mobile robot model, where each robot is associated with a \textit{color}, which is visible to other robots but not to itself. The robots are autonomous, anonymous, oblivious and silent,…
There has been significant recent interest in graph-based nearest neighbor search methods, many of which are centered on the construction of navigable graphs over high-dimensional point sets. A graph is navigable if we can successfully move…
Autonomous operation of service robotics in human-centric scenes remains challenging due to the need for understanding of changing environments and context-aware decision-making. While existing approaches like topological maps offer…
Consider a set of autonomous computational entities, called \emph{robots}, operating inside a polygonal enclosure (possibly with holes), that have to perform some collaborative tasks. The boundary of the polygon obstructs both visibility…
The graph identification problem consists of discovering the interactions among nodes in a network given their state/feature trajectories. This problem is challenging because the behavior of a node is coupled to all the other nodes by the…
Randomly breaking connections in a graph alters its transport properties, a model used to describe percolation. In the case of quantum walks, dynamic percolation graphs represent a special type of imperfections, where the connections appear…
Many applications, ranging from natural to social sciences, rely on graphlet analysis for the intuitive and meaningful characterization of networks employing micro-level structures as building blocks. However, it has not been thoroughly…
We present a modular robotic system for autonomous exploration and semantic updating of large-scale unknown environments. Our approach enables a mobile robot to build, revisit, and update a hybrid semantic map that integrates a 2D occupancy…