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We study the problem of path planning for unlabeled (indistinguishable) unit-disc robots in a planar environment cluttered with polygonal obstacles. We introduce an algorithm which minimizes the total path length, i.e., the sum of lengths…
Exploring bodies of water on their surface allows robots to efficiently communicate and harvest energy from the sun. On the water surface, however, robots often face highly unstructured environments, cluttered with plant matter, animals,…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
Considering an environment containing polygonal obstacles, we address the problem of planning motions for a pair of planar robots connected to one another via a cable of limited length. Much like prior problems with a single robot connected…
Decentralized network theories focus on achieving consensus and in speeding up the rate of convergence to consensus. However, network cohesion (i.e., maintaining consensus) during transitions between consensus values is also important when…
Isoperimetric robots are large scale, untethered inflatable robots that can undergo large shape changes, but have only been demonstrated in one 3D shape -- an octahedron. These robots consist of independent triangles that can change shape…
Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
Reducing the complexity of higher order problems can enable solving them in analytical ways. In this paper, we propose an analytic whole body motion generator for humanoid robots. Our approach targets inexpensive platforms that possess…
A gaze-fixating robot perceives distance to the fixated object and relative positions of surrounding objects immediately, accurately, and robustly. We show how fixation, which is the act of looking at one object while moving, exploits…
Can robots mold soft plastic materials by shaping depth images? The short answer is no: current day robots can't. In this article, we address the problem of shaping plastic material with an anthropomorphic arm/hand robot, which observes the…
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…
LiDAR odometry and mapping (LOAM) has been playing an important role in autonomous vehicles, due to its ability to simultaneously localize the robot's pose and build high-precision, high-resolution maps of the surrounding environment. This…
One of the major motifs in collective or swarm intelligence is that, even though individuals follow simple rules, the resulting global behavior can be complex and intelligent. In artificial swarm systems, such as swarm robots, the goal is…
Diffusion models have recently been successfully applied to a wide range of robotics applications for learning complex multi-modal behaviors from data. However, prior works have mostly been confined to single-robot and small-scale…
In many robotics applications, it is necessary to compute not only the distance between the robot and the environment, but also its derivative - for example, when using control barrier functions. However, since the traditional Euclidean…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
In the future, service robots are expected to be able to operate autonomously for long periods of time without human intervention. Many work striving for this goal have been emerging with the development of robotics, both hardware and…
Singularity in robot controls is an important problem. By identifying an appropriate trajectory for the robots, the singular situations can be avoided. In this paper an identification algorithm is proposed to control the robot such that it…
This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system. The objective is to produce a covering of an unknown workspace by a fixed number of robots such that the covered…
In industrial Internet environments, mobile robots must generate collision-free global routes under stochastic obstacle layouts and random perturbations in commanded linear and angular velocities. This paper models a differential-drive…