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We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
Dispersion by mobile agents is a well studied problem in the literature on computing by mobile robots. In this problem, $l$ robots placed arbitrarily on nodes of a network having $n$ nodes are asked to relocate themselves autonomously so…
In this paper, we study the problem of map matching with travel time constraints. Given a sequence of $k$ spatio-temporal measurements and an embedded path graph with travel time costs, the goal is to snap each measurement to a close-by…
This paper considers the Hamiltonian walk problem in the multi-agent coordination framework, referred to as $k$-agents Hamiltonian walk problem ($k$-HWP). In this problem, a set of $k$ connected agents collectively compute a spanning walk…
A good computer network is hard to disrupt. It is desired that the computer communication network remains connected even when some of the links or nodes fail. Since the communication links are expensive, one wants to achieve these goals…
This paper deals with random sensors initially randomly deployed on the line according to general random process and on the plane according to two independent general random processes. The mobile robot with carrying capacity $k$ placed at…
In our prior work, we outlined an approach, named DisCoF, for cooperative pathfinding in distributed systems with limited sensing and communication range. Contrasting to prior works on cooperative pathfinding with completeness guarantees,…
In this chapter, we propose a novel approach for solving the coordination of a fleet of mobile robots, which consists of finding a set of collision-free trajectories for individual robots in the fleet. This problem is studied for several…
We study a new search problem on the plane involving a robot and an immobile treasure, initially placed at distance $1$ from each other. The length $\beta$ of an arc (a fence) within the perimeter of the corresponding circle, as well as the…
We study the problem of collective tree exploration in which a team of $k$ mobile agents must collectively visit all nodes of an unknown tree in as few moves as possible. The agents all start from the root and discover adjacent edges as…
We are interested in the design of robust (or resilient) capacitated rooted Steiner networks in case of terminals with uniform demands. Formally, we are given a graph, capacity and cost functions on the edges, a root, a subset of nodes…
The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
We study resilient leader-follower consensus of multi-agent systems (MASs) in the presence of adversarial agents, where agents' communication is modeled by time-varying topologies. The objective is to develop distributed algorithms for the…
We present a simple and natural extension of the multi-robot motion planning problem where the robots are partitioned into groups (colors), such that in each group the robots are interchangeable. Every robot is no longer required to move to…
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…
Synchronization and desynchronization in networks is a highly studied topic in many electrical systems, but there is a distinct lack of research on this topic with respect to robotics. Creating an effective decentralized synchronization…
In applications such as search and rescue or disaster relief, heterogeneous multi-robot systems (MRS) can provide significant advantages for complex objectives that require a suite of capabilities. However, within these application spaces,…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…