Related papers: Optimally Gathering Two Robots
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…
We examine an important combinatorial challenge in clearing clutter using a mobile robot equipped with a manipulator, seeking to compute an optimal object removal sequence for minimizing the task completion time, assuming that each object…
As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the environment is seldom known perfectly. Noisy sensors and…
Let $\mathcal{W} \subset \mathbb{R}^2$ be a planar polygonal environment (i.e., a polygon potentially with holes) with a total of $n$ vertices, and let $A,B$ be two robots, each modeled as an axis-aligned unit square, that can translate…
A group of mobile agents, identical, anonymous, and oblivious (memoryless), having the capability to sense only the relative direction (bearing) to neighborhing agents within a finite visibility range, are shown to gather to a meeting point…
We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…
A team of robots sharing a common goal can benefit from coordination of the activities of team members, helping the team to reach the goal more reliably or quickly. We address the problem of coordinating the actions of a team of robots with…
Arbitrary pattern formation ($\mathcal{APF}$) by mobile robots is studied by many in literature under different conditions and environment. Recently it has been studied on an infinite grid network but with full visibility. In opaque robot…
This paper presents a framework to enable a team of heterogeneous mobile robots to model and sense a multiscale system. We propose a coupled strategy, where robots of one type collect high-fidelity measurements at a slow time scale and…
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…
This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…
Two fundamental problems of distributed computing are Gathering and Arbitrary pattern formation (\textsc{Apf}). These two tasks are different in nature as in gathering robots meet at a point but in \textsc{Apf} robots form a fixed pattern…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
We propose a new camera-based method of robot identification, tracking and orientation estimation. The system utilises coloured lights mounted in a circle around each robot to create unique colour sequences that are observed by a camera.…
Among fundamental problems in the context of distributed computing by autonomous mobile entities, one of the most representative and well studied is {\sc Point Convergence}: given an arbitrary initial configuration of identical entities,…
The limited energy capacity of individual robotic agents in a swarm often limits the possible cooperative tasks they can perform. In this work, we investigate the problem of covering an unknown connected grid environment (e.g. a maze or…
Arbitrary Pattern formation ($\mathcal{APF}$) by a swarm of mobile robots is a widely studied problem in the literature. Many works regarding $\mathcal{APF}$ have been proposed on plane and infinite grid by point robots. But in practical…
We push the limit in planning collision-free motions for routing uniform labeled discs in two dimensions. First, from a theoretical perspective, we show that the constant-factor time-optimal routing of labeled discs can be achieved using a…
We present a decentralized control algorithm for a minimalist robotic swarm lacking memory, explicit communication, or relative position information, to encapsulate multiple diffusive target sources in a bounded environment. The…
In times of more and more complex interaction techniques, we point out the powerfulness of colored light as a simple and cheap feedback mechanism. Since it is visible over a distance and does not interfere with other modalities, it is…