Related papers: Symmetric Rendezvous With Advice: How to Rendezvou…
In the fast evacuation problem, we study the path planning problem for two robots who want to minimize the worst-case evacuation time on the unit disk. The robots are initially placed at the center of the disk. In order to evacuate, they…
Consider two robots that start at the origin of the infinite line in search of an exit at an unknown location on the line. The robots can only communicate if they arrive at the same location at exactly the same time, i.e. they use the…
We consider the problem of finding patrol schedules for $k$ robots to visit a given set of $n$ sites in a metric space. Each robot has the same maximum speed and the goal is to minimize the weighted maximum latency of any site, where the…
We consider the RMS distance (sum of squared distances between pairs of points) under translation between two point sets in the plane, in two different setups. In the partial-matching setup, each point in the smaller set is matched to a…
Given trajectories with gaps, we investigate methods to tighten spatial bounds on areas (e.g., nodes in a spatial network) where possible rendezvous activity could have occurred. The problem is important for reducing the onerous amount of…
Robots are becoming an increasingly common part of scientific work within laboratory environments. In this paper, we investigate the problem of designing \emph{schedules} for completing a set of tasks at fixed locations with multiple robots…
In the problem called single resource constraint scheduling, we are given $m$ identical machines and a set of jobs, each needing one machine to be processed as well as a share of a limited renewable resource $R$. A schedule of these jobs is…
This work presents a framework for multi-robot tour guidance in a partially known environment with uncertainty, such as a museum. A simultaneous matching and routing problem (SMRP) is formulated to match the humans with robot guides…
We revisit two well-studied scheduling problems in the unrelated machines setting where each job can have a different processing time on each machine. For minimizing total weighted completion time we give a 1.45-approximation, which…
In this paper, we solve the local gathering problem of a swarm of $n$ indistinguishable, point-shaped robots on a two dimensional grid in asymptotically optimal time $\mathcal{O}(n)$ in the fully synchronous $\mathcal{FSYNC}$ time model.…
We consider the problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time spent there. We…
Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization…
Trajectory optimization of low-thrust perturbed orbit rendezvous is a crucial technology for space missions in low Earth orbits, which is difficult to solve due to its initial value sensitivity, especially when the transfer trajectory has…
Mutual localization serves as the foundation for collaborative perception and task assignment in multi-robot systems. Effectively utilizing limited onboard sensors for mutual localization between marker-less robots is a worthwhile goal.…
In their seminal work on the Stable Marriage Problem (SM), Gale and Shapley introduced a generalization of SM referred to as the Stable Roommates Problem (SR). An instance of SR consists of a set of $2n$ agents, and each agent has…
Deficit Round-Robin (DRR) is a widespread scheduling algorithm that provides fair queueing with variable-length packets. Bounds on worst-case delays for DRR were found by Boyer et al., who used a rigorous network calculus approach and…
We consider n robots with limited visibility: each robot can observe other robots only up to a constant distance denoted as the viewing range. The robots operate in discrete rounds that are either fully synchronous (FSync) or…
Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…
A robust drift-safe rendezvous trajectory optimization tool is developed in this work, with applications to orbital rendezvous and proximity operations. The method is based on direct collocation and utilizes a sequential convex programming…
Blind rendezvous is a fundamental problem in cognitive radio networks. The problem involves a collection of agents (radios) that wish to discover each other in the blind setting where there is no shared infrastructure and they initially…