Related papers: Arbitrary Pattern Formation by Asynchronous Opaque…
We study a generalized motion planning problem involving multiple autonomous robots navigating in a $d$-dimensional Euclidean space in the presence of a set of obstacles whose positions are unknown a priori. Each robot is required to visit…
This work deals with the Maximum Independent Set ($\mathcal{MIS}$) formation problem in a finite rectangular grid by autonomous robots. Suppose we are given a set of identical robots, where each robot is placed on a node of a finite…
A mobile robot system consists of anonymous mobile robots, each of which autonomously performs sensing, computation, and movement according to a common algorithm, so that the robots collectively achieve a given task. There are two main…
The rapid advancement of artificial intelligence is enabling the development of increasingly autonomous robots capable of operating beyond engineered factory settings and into the unstructured environments of human life. This shift raises a…
We consider systems made of autonomous mobile robots evolving in highly dynamic discrete environment i.e., graphs where edges may appear and disappear unpredictably without any recurrence, stability, nor periodicity assumption. Robots are…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
This paper introduces a distributed leaderless swarm formation control framework to address the problem of collectively driving a swarm of robots to track a time-varying formation. The swarm's formation is captured by the trajectory of an…
In this paper, we consider the gathering problem of seven autonomous mobile robots on triangular grids. The gathering problem requires that, starting from any connected initial configuration where a subgraph induced by all robot nodes…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
This work addresses the gathering problem for a set of autonomous, anonymous, and homogeneous robots with limited visibility operating in a continuous circle. The robots are initially placed at distinct positions, forming a rotationally…
We study the problem \emph{Gathering} for $n$ autonomous mobile robots in synchronous settings with a persistent memory called \emph{light}. It is well known that Gathering is impossible in the basic model ($OBLOT$) where robots have no…
As drones and autonomous cars become more widespread it is becoming increasingly important that robots can operate safely under realistic conditions. The noisy information fed into real systems means that robots must use estimates of the…
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…
The problem of distributed formation control of nonholonomic mobile robots is addressed in this paper, in which the robots are designed to track a formation. Collision avoidance among agents is guaranteed using a control law based on a…
We consider a set of k autonomous robots that are endowed with visibility sensors (but that are otherwise unable to communicate) and motion actuators. Those robots must collaborate to reach a sin- gle vertex that is unknown beforehand, and…
We study computationally-hard fundamental motion planning problems where the goal is to translate $k$ axis-aligned rectangular robots from their initial positions to their final positions without collision, and with the minimum number of…
In this paper, we propose a novel and distributed formation control method for autonomous robots to follow the desired formation while tracking a moving target in dynamic environments. In our approach, the desired formations, which include…
In this paper, we use simulated swarms of robots to further explore the aggregation dynamics generated by these simple individual mechanisms. Our objective is to study the introduction of "informed robots", and to study how many of these…
An oblivious mobile robot is a stateless computational entity located in a spatial universe, capable of moving in that universe. When activated, the robot observes the universe and the location of the other robots, chooses a destination,…