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A distributed system consisting of a huge number of computational entities is prone to faults, because faults in a few nodes cause the entire system to fail. Consequently, fault tolerance of distributed systems is a critical issue.…
In this paper, we consider coordinated movement of a network of vehicles consisting of a bounded number of malicious agents, that is, vehicles must reach consensus in longitudinal position and a common predefined velocity. The motions of…
Graph clustering is a fundamental computational problem with a number of applications in algorithm design, machine learning, data mining, and analysis of social networks. Over the past decades, researchers have proposed a number of…
Arbitrary Pattern Formation (APF) is a fundamental coordination problem in swarm robotics. It requires a set of autonomous robots (mobile computing units) to form an arbitrary pattern (given as input) starting from any initial pattern. This…
A team of mobile agents, starting from different nodes of an unknown network, possibly at different times, have to meet at the same node and declare that they have all met. Agents have different labels and move in synchronous rounds along…
Faults occurring in ad-hoc robot networks may fatally perturb their topologies leading to disconnection of subsets of those networks. Optimal topology synthesis is generally resource-intensive and time-consuming to be done in real time for…
The hunter and gatherer approach copes with the problem of dynamic multi-robot task allocation, where tasks are unknowingly distributed over an environment. This approach employs two complementary teams of agents: one agile in exploring…
The application of GNC devices on small robots is a game-changer that enables these robots to be mobile on low-gravity planetary surfaces and small bodies. Use of reaction wheels enables these robots to roll, hop, summersault and rest on…
Algorithms for node clustering typically focus on finding homophilous structure in graphs. That is, they find sets of similar nodes with many edges within, rather than across, the clusters. However, graphs often also exhibit heterophilous…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
We consider the problem of scattering $n$ robots in a two dimensional continuous space. As this problem is impossible to solve in a deterministic manner, all solutions must be probabilistic. We investigate the amount of randomness (that is,…
Collective decision-making is an essential capability of large-scale multi-robot systems to establish autonomy on the swarm level. A large portion of literature on collective decision-making in swarm robotics focuses on discrete decisions…
The deployment of machine learning in high-stakes services relies on ``human-in-the-loop'' architectures to mitigate algorithmic uncertainty. However, existing static policies fail to address a fundamental tension: algorithms suffer from…
Coordination in a large number of networked robots is a challenging task, especially when robots are constantly moving around the environment and there are malicious attacks within the network. Various approaches in the literature exist for…
We consider the classical contention resolution problem where nodes arrive over time, each with a message to send. In each synchronous slot, each node can send or remain idle. If in a slot one node sends alone, it succeeds; otherwise, if…
A swarm robotic system consists of a team of robots performing cooperative tasks without any centralized coordination. In principle, swarms enable flexible and scalable solutions; however, designing individual control algorithms that can…
Physical systems can fail. For this reason the problem of identifying and reacting to faults has received a large attention in the control and computer science communities. In this paper we study the fault diagnosis problem for hybrid…
This paper introduces the \emph{RoboCast} communication abstraction. The RoboCast allows a swarm of non oblivious, anonymous robots that are only endowed with visibility sensors and do not share a common coordinate system, to asynchronously…
The \textsc{Arbitrary Pattern Formation} (\textsc{Apf}) is a widely studied in distributed computing for swarm robots. This problem asks to design a distributed algorithm that allows a team of identical, autonomous mobile robots to form any…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…