Related papers: Efficient Dispersion of Mobile Robots on Graphs
Most of the literature on spanners focuses on building the graph from scratch. This paper instead focuses on adding edges to improve an existing graph. A major open problem in this field is: given a graph embedded in a metric space, and a…
Distributed averaging is among the most relevant cooperative control problems, with applications in sensor and robotic networks, distributed signal processing, data fusion, and load balancing. Consensus and gossip algorithms have been…
K-core decomposition is a commonly used metric to analyze graph structure or study the relative importance of nodes in complex graphs. Recent years have seen rapid growth in the scale of the graph, especially in industrial settings. For…
We study the problem of finding a maximal independent set (MIS) in the standard LOCAL model of distributed computing. Classical algorithms by Luby [JACM'86] and Alon, Babai, and Itai [JALG'86] find an MIS in $O(\log n)$ rounds in $n$-node…
This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…
We study the network localization problem, i.e., the problem of determining node positions of a wireless sensor network modeled as a unit disk graph. In an arbitrarily deployed network, positions of all nodes of the network may not be…
In the k-Apex problem the task is to find at most k vertices whose deletion makes the given graph planar. The graphs for which there exists a solution form a minor closed class of graphs, hence by the deep results of Robertson and Seymour,…
This work presents a maximum entropy principle based algorithm for solving minimum multiway $k$-cut problem defined over static and dynamic {\em digraphs}. A multiway $k$-cut problem requires partitioning the set of nodes in a graph into…
We propose distributed algorithms to automatically deploy a group of robotic agents and provide coverage of a discretized environment represented by a graph. The classic Lloyd approach to coverage optimization involves separate centering…
In this paper we consider the problem of monitoring detecting separation of agents from a base station in robotic and sensor networks. Such separation can be caused by mobility and/or failure of the agents. While separation/cut detection…
This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…
This paper presents a novel dynamic coverage control algorithm allowing a group of robots to track an optimal-deployment configuration for arbitrary time-varying density functions. Building on singular perturbation theory, the proposed…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
Sensor coverage is the critical multi-robot problem of maximizing the detection of events in an environment through the deployment of multiple robots. Large multi-robot systems are often composed of simple robots that are typically not…
The number of multi-robot systems deployed in field applications has increased dramatically over the years. Despite the recent advancement of navigation algorithms, autonomous robots often encounter challenging situations where the control…
In algorithmic graph theory, a classic open question is to determine the complexity of the Maximum Independent Set problem on $P_t$-free graphs, that is, on graphs not containing any induced path on $t$ vertices. So far, polynomial-time…
While in many graph mining applications it is crucial to handle a stream of updates efficiently in terms of {\em both} time and space, not much was known about achieving such type of algorithm. In this paper we study this issue for a…
In this paper we tackle the problem of persistently covering a complex non-convex environment with a team of robots. We consider scenarios where the coverage quality of the environment deteriorates with time, requiring to constantly revisit…
The exploration of large-scale unknown environments can benefit from the deployment of multiple robots for collaborative mapping. Each robot explores a section of the environment and communicates onboard pose estimates and maps to a central…
Consider robot swarm wireless networks where mobile robots offload their computing tasks to a computing server located at the mobile edge. Our aim is to maximize the swarm lifetime through efficient exploitation of the correlation between…