Related papers: Optimally Gathering Two Robots
We study a class of finite state machines, called \defi{$w$-matching machines}, which yield to simulate the behavior of pattern matching algorithms while searching for a pattern $w$. They can be used to compute the asymptotic speed, i.e.…
The task-specific optimization of robotic systems has long been divided into the optimization of the robot and the optimization of the environment. In this letter, we argue that these two problems are interdependent and should be treated as…
We propose a zero-order optimization method for sequential min-max problems based on two populations of interacting particles. The systems are coupled so that one population aims to solve the inner maximization problem, while the other aims…
Many combinatorial optimization problems can be formulated as the search for a subgraph that satisfies certain properties and minimizes the total weight. We assume here that the vertices correspond to points in a metric space and can take…
This paper addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or…
Robots operate under significant uncertainty, from quantifiable noise to unquantifiable unknowns, and must account for strict operational constraints, such as limited resources. In this paper, we consider the problem of synthesizing robust…
In this paper, we use simulated swarms of robots to further explore the aggregation dynamics generated by these simple individual mechanisms. Our objective is to study the introduction of "informed robots", and to study how many of these…
We consider a team of heterogeneous robots which are deployed within a common workspace to gather different types of data. The robots have different roles due to different capabilities: some gather data from the workspace (source robots)…
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…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…
In this paper, the parking problem of a swarm of mobile robots has been studied. The robots are deployed at the nodes of an infinite grid, which has a subset of prefixed nodes marked as parking nodes. Each parking node p_i has a capacity of…
We investigate initial information, unbounded memory and randomization in gathering mobile agents on a grid. We construct a state machine, such that it is possible to gather, with probability 1, all configurations of its copies. This…
Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…
We consider the discrepancy problem of coloring $n$ intervals with $k$ colors such that at each point on the line, the maximal difference between the number of intervals of any two colors is minimal. Somewhat surprisingly, a coloring with…
In this work, we study the problem of dispersion of mobile robots on dynamic rings. The problem of dispersion of $n$ robots on an $n$ node graph, introduced by Augustine and Moses Jr. [1], requires robots to coordinate with each other and…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…
\textsc{Arbitrary Pattern Formation} is a fundamental problem in autonomous mobile robot systems. The problem asks to design a distributed algorithm that moves a team of autonomous, anonymous and identical mobile robots to form any…
We present a decentralized algorithm to achieve segregation into an arbitrary number of groups with swarms of autonomous robots. The distinguishing feature of our approach is in the minimalistic assumptions on which it is based.…
In modern production facilities industrial robots and humans are supposed to interact sharing a common working area. In order to avoid collisions, the distances between objects need to be measured conservatively which can be done by a…