Related papers: Asynchronous Arbitrary Pattern Formation: the effe…
The traditional distributed model of autonomous, homogeneous, mobile point robots usually assumes that the robots do not create any visual obstruction for the other robots, i.e., the robots are see through. In this paper, we consider a…
Pattern formation is one of the most fundamental problems in distributed computing, which has recently received much attention. In this paper, we initiate the study of distributed pattern formation in situations when some robots can be…
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…
When a mobile robot plans its path in an environment with obstacles using Artificial Potential Field (APF) strategy, it may fall into the local minimum point and fail to reach the goal. Also, the derivatives of APF will explode close to…
Accurate localization is a critical requirement for most robotic tasks. The main body of existing work is focused on passive localization in which the motions of the robot are assumed given, abstracting from their influence on sampling…
Long horizon sequential manipulation tasks are effectively addressed hierarchically: at a high level of abstraction the planner searches over abstract action sequences, and when a plan is found, lower level motion plans are generated. Such…
We consider a swarm of autonomous mobile robots each of which is an anonymous point in the three-dimensional Euclidean space (3D-space) and synchronously executes a common distributed algorithm. We investigate the pattern formation problem…
The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…
We study the computational power that oblivious robots operating in the plane have under sequential schedulers. We show that this power is much stronger than the obvious capacity these schedulers offer of breaking symmetry, and thus to…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
In this paper, we consider the multi-robot path execution problem where a group of robots move on predefined paths from their initial to target positions while avoiding collisions and deadlocks in the face of asynchrony. We first show that…
We consider a distributed system consisting of autonomous mobile computing entities, called robots, moving in a specified space. The robots are anonymous, oblivious, and have neither any access to the global coordinate system nor any…
Following the wide investigation in distributed computing issues by mobile entities of the last two decades, we consider the need of a structured methodology to tackle the arisen problems. The aim is to simplify both the design of the…
Methods for centralized planning of the collision-free trajectories for a fleet of mobile robots typically solve the discretized version of the problem and rely on numerous simplifying assumptions, e.g. moves of uniform duration, cardinal…
A novel mechanism to derive self-entanglement-free (SEF) path for tethered differential-driven robots is proposed in this work. The problem is tailored to the deployment of tethered differential-driven robots in situations where an…
Consider a set of $n$ simple autonomous mobile robots (asynchronous, no common coordinate system, no identities, no central coordination, no direct communication, no memory of the past, non-rigid, deterministic) initially in distinct…
We consider the problem of completely covering an unknown discrete environment with a swarm of asynchronous, frequently-crashing autonomous mobile robots. We represent the environment by a discrete graph, and task the robots with occupying…
Present-day federated learning (FL) systems deployed over edge networks consists of a large number of workers with high degrees of heterogeneity in data and/or computing capabilities, which call for flexible worker participation in terms of…
In the general pattern formation (GPF) problem, a swarm of simple autonomous, disoriented robots must form a given pattern. The robots' simplicity imply a strong limitation: When the initial configuration is rotationally symmetric, only…
Leader Election is an important primitive for programmable matter, since it is often an intermediate step for the solution of more complex problems. Although the leader election problem itself is well studied even in the specific context of…