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We present a new algorithm for the problem of universal gathering mobile oblivious robots (that is, starting from any initial configuration that is not bivalent, using any number of robots, the robots reach in a finite number of steps the…
This paper studies a novel planning problem for multiple agents that cannot share holding resources, named OTIMAPP (Offline Time-Independent Multi-Agent Path Planning). Given a graph and a set of start-goal pairs, the problem consists in…
In its simplest form the well known consensus problem for a networked family of autonomous agents is to devise a set of protocols or update rules, one for each agent, which can enable all of the agents to adjust or tune their "agreement…
Congestion games model a wide variety of real-world resource congestion problems, such as selfish network routing, traffic route guidance in congested areas, taxi fleet optimization and crowd movement in busy areas. However, existing…
The study addressed the problem of Anonymous Multi-Agent Path-finding (AMAPF). Unlike the classical formulation, where the assignment of agents to goals is fixed, in the anonymous MAPF setting it is irrelevant which agent reaches specific…
Clustering is a fundamental problem, aiming to partition a set of elements, like agents or data points, into clusters such that elements in the same cluster are closer to each other than to those in other clusters. In this paper, we present…
We study a dynamic non-bipartite matching problem. There is a fixed set of agent types, and agents of a given type arrive and depart according to type-specific Poisson processes. Agent departures are not announced in advance. The value of a…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
The problem of planning a set of paths for the coalition of robots (agents) with different capabilities is considered in the paper. Some agents can modify the environment by destructing the obstacles thus allowing the other ones to shorten…
We study a fundamental cooperative message-delivery problem on the plane. Assume $n$ robots which can move in any direction, are placed arbitrarily on the plane. Robots each have their own maximum speed and can communicate with each other…
This paper proposes a distributed algorithm which deterministically gathers n (n > 4) asynchronous, fat robots. The robots are assumed to be transparent and they have full visibility. The robots are initially considered to be stationary. A…
Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capabilities. It takes time for the robot to move between…
This paper studies the problem of scheduling urban air mobility trips when travel times are uncertain and capacity at destinations is limited. Urban air mobility, in which air transportation is used for relatively short trips within a city…
We develop a probabilistic framework for \emph{rendezvous planning}: given sparse, noisy observations of a fast-moving target, plan rendezvous spatiotemporal coordinates for a set of significantly slower seeking agents. The unknown target…
We study a dynamic matching setting where homogeneous agents arrive at random according to a Poisson process and randomly form edges yielding a sparse market. Agents stay in the market according to a certain sojourn time and wait to be…
We study uniform population protocols: networks of anonymous agents whose pairwise interactions are chosen at random, where each agent uses an identical transition algorithm that does not depend on the population size $n$. Many existing…
Given a connected region in two-dimensional space where events of a certain kind occur according to a certain time-varying density, we consider the problem of setting up a network of autonomous mobile agents to detect the occurrence of…
In crowded environments, individuals must navigate around other occupants to reach their destinations. Understanding and controlling traffic flows in these spaces is relevant for coordinating robot swarms and designing infrastructure for…
Consider a small group of mobile agents whose goal is to locate a certain cell in a two-dimensional infinite grid. The agents operate in an asynchronous environment, where in each discrete time step, an arbitrary subset of the agents…
Robots with very limited capabilities are placed on the vertices of a graph and are required to move toward a single, common vertex, where they remain stationary once they arrive. This task is referred to as the GATHERING problem. Most of…