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The introduction and study of dispersing mobile robots across the nodes of an anonymous graph have recently gained traction and have been explored within various graph classes and settings. While optimal dispersion solution was established…
We consider a team of {\em autonomous weak robots} that are endowed with visibility sensors and motion actuators. Autonomous means that the team cannot rely on any kind of central coordination mechanism or scheduler. By weak we mean that…
Dispersion of mobile robots over the nodes of an anonymous graph is an important problem and turns out to be a crucial subroutine for designing efficient algorithms for many fundamental graph problems via mobile robots. In this problem,…
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…
Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots…
A detection system, modeled in a graph, is composed of "detectors" positioned at a subset of vertices in order to uniquely locate an ``intruder" at any vertex. \emph{Identifying codes} use detectors that can sense the presence or absence of…
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…
Vector clock algorithms are basic wait-free building blocks that facilitate causal ordering of events. As wait-free algorithms, they are guaranteed to complete their operations within a finite number of steps. Stabilizing algorithms allow…
As robots are increasingly deployed to collaborate on tasks within shared workspaces and resources, the failure of an individual robot can critically affect the group's performance. This issue is particularly challenging when robots lack…
Self-stabilization is a versatile fault-tolerance approach that characterizes the ability of a system to eventually resume a correct behavior after any finite number of transient faults. In this paper, we propose a self-stabilizing reset…
An oblivious mobile robot is a stateless computational entity located in a spatial universe, capable of moving in that universe. When activated, the robot observes the universe and the location of the other robots, chooses a destination,…
We study an optimization problem that arises in the design of covering strategies for multi-robot systems. Consider a team of $n$ cooperating robots traveling along predetermined closed and disjoint trajectories. Each robot needs to…
An active approach to fault tolerance is essential for robot swarms to achieve long-term autonomy. Previous efforts have focused on responding to spontaneous electro-mechanical faults and failures. However, many faults occur gradually over…
*The following abbreviates the abstract. Please refer to the thesis for the full abstract.* After a disaster, locating and extracting victims quickly is critical because mortality rises rapidly after the first two days. To assist search and…
RecentadvancesinDistributedComputinghighlightmodelsandalgo- rithms for autonomous swarms of mobile robots that self-organize and cooperate to solve global objectives. The overwhelming majority of works so far considers handmade algorithms…
In this paper we consider a robot patrolling problem in which events arrive randomly over time at the vertices of a graph. When an event arrives it remains active for a random amount of time. If that time active exceeds a certain threshold,…
We present an algorithm that ensures in finite time the gathering of two robots in the non-rigid ASYNC model. To circumvent established impossibility results, we assume robots are equipped with 2-colors lights and are able to measure…
Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation.In this paper, we propose a…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
Single fault sequential change point problems have become important in modeling for various phenomena in large distributed systems, such as sensor networks. But such systems in many situations present multiple interacting faults. For…