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A robotic swarm may encounter traffic congestion when many robots simultaneously attempt to reach the same area. For solving that efficiently, robots must execute decentralised traffic control algorithms. In this work, we propose a measure…
We consider TSP with time windows and service time. In this problem we receive a sequence of requests for a service at nodes in a metric space and a time window for each request. The goal of the online algorithm is to maximize the number of…
We consider the problem of retrieving a target object from a confined space by two robotic manipulators where overhand grasps are not allowed. If other movable obstacles occlude the target, more than one object should be relocated to clear…
Multi-Robot Coverage problems have been extensively studied in robotics, planning and multi-agent systems. In this work, we consider the coverage problem when there are constraints on the proximity (e.g., maximum distance between the…
Given a rectangle $R$ with area $A$ and a set of areas $L=\{A_1,...,A_n\}$ with $\sum_{i=1}^n A_i = A$, we consider the problem of partitioning $R$ into $n$ sub-regions $R_1,...,R_n$ with areas $A_1,...,A_n$ in a way that the total…
In the $k$-Cut problem, we are given an edge-weighted graph $G$ and an integer $k$, and have to remove a set of edges with minimum total weight so that $G$ has at least $k$ connected components. Prior work on this problem gives, for all $h…
This work proposes an autonomous multi-robot exploration pipeline that coordinates the behaviors of robots in an indoor environment composed of multiple rooms. Contrary to simple frontier-based exploration approaches, we aim to enable…
We develop two simple and efficient approximation algorithms for the continuous $k$-medians problems, where we seek to find the optimal location of $k$ facilities among a continuum of client points in a convex polygon $C$ with $n$ vertices…
We consider a swarm of $n$ autonomous mobile robots, distributed on a 2-dimensional grid. A basic task for such a swarm is the gathering process: All robots have to gather at one (not predefined) place. A common local model for extremely…
In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…
In this paper, we introduce an algorithm designed to address the problem of time-optimal formation reshaping in three-dimensional environments while preventing collisions between agents. The utility of the proposed approach is particularly…
In densely-packed robot swarms operating in confined regions, spatial interference -- which manifests itself as a competition for physical space -- forces robots to spend more time navigating around each other rather than performing the…
High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…
Let $k \geq 2$ be a constant. Given any $k$ convex polygons in the plane with a total of $n$ vertices, we present an $O(n\log^{2k-3}n)$ time algorithm that finds a translation of each of the polygons such that the area of intersection of…
We investigate the problem of optimally assigning a large number of robots (or other types of autonomous agents) to guard the perimeters of closed 2D regions, where the perimeter of each region to be guarded may contain multiple disjoint…
Cooperation between mobile robots and wireless sensor networks is a line of research that is currently attracting a lot of attention. In this context, we study the following problem of barrier coverage by stationary wireless sensors that…
The multiway-cut problem is, given a weighted graph and k >= 2 terminal nodes, to find a minimum-weight set of edges whose removal separates all the terminals. The problem is NP-hard, and even NP-hard to approximate within 1+delta for some…
A metamorphic robotic system (MRS) is composed of anonymous, memoryless, and autonomous modules that execute an identical distributed algorithm to move while keeping the connectivity of the modules. For an MRS, the number of modules…
Searching for a line on the plane with $n$ unit speed robots is a classic online problem that dates back to the 50's, and for which competitive ratio upper bounds are known for every $n\geq 1$. In this work we improve the best lower bound…