Related papers: Crash tolerant gathering on grid by asynchronous o…

Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…

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 the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…

This paper introduces collaborating robots which provide the possibility of enhanced task performance, high reliability and decreased. Collaborating-bots are a collection of mobile robots able to self-assemble and to self-organize in order…

Teams of networked autonomous agents have been used in a number of applications, such as mobile sensor networks and intelligent transportation systems. However, in such systems, the effect of faults and errors in one or more of the…

The congestion formation on a urban road network is one of the key issue for the development of a sustainable mobility in the future smart cities. In this work we propose a reductionist approach studying the stationary states of a simple…

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 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)…

Distributed agreement-based algorithms are often specified in a crash-stop asynchronous model augmented by Chandra and Toueg's unreliable failure detectors. In such models, correct nodes stay up forever, incorrect nodes eventually crash and…

The mobile robot dispersion problem on graphs asks $k\leq n$ robots placed initially arbitrarily on the nodes of an $n$-node anonymous graph to reposition autonomously to reach a configuration in which each robot is on a distinct node of…

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…

This paper suggests an integrated navigation system for an unmanned ground vehicle operating in an unknown cluttered environment. The navigator supports time-critical mobility making it possible for a mobile robot to reach a target from the…

This paper considers the problem of routing and rebalancing a shared fleet of autonomous (i.e., self-driving) vehicles providing on-demand mobility within a capacitated transportation network, where congestion might disrupt throughput. We…

In the past decade, numerous machine learning algorithms have been shown to successfully learn optimal policies to control real robotic systems. However, it is common to encounter failing behaviors as the learning loop progresses.…

In this paper, an original heuristic algorithm of empty vehicles management in personal rapid transit network is presented. The algorithm is used for the delivery of empty vehicles for waiting passengers, for balancing the distribution of…

This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the system is that it handles a wide range of object categories…

Long-tail and rare event problems become crucial when autonomous driving algorithms are applied in the real world. For the purpose of evaluating systems in challenging settings, we propose a generative framework to create safety-critical…

In this paper, we consider the partial gathering problem of mobile agents in asynchronous unidirectional rings equipped with whiteboards on nodes. The partial gathering problem is a new generalization of the total gathering problem. The…

This paper investigates efficient techniques to collect and concentrate an under-actuated particle swarm despite obstacles. Concentrating a swarm of particles is of critical importance in health-care for targeted drug delivery, where…

Intermittent faults are transient errors that sporadically appear and disappear. Although intermittent faults pose substantial challenges to reliability and coordination, existing studies of fault tolerance in robot swarms focus instead on…