Related papers: Efficient Algorithms for Optimal Perimeter Guardin…
A basic task in the design of a robotic production cell is the relative placement of robot and workpiece. The fundamental requirement is that the robot can reach all process positions; only then one can think of further optimization.…
Robots with the ability to balance time against the thoroughness of search have the potential to provide time-critical assistance in applications such as search and rescue. Current advances in ergodic coverage-based search methods have…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
Modern artificial intelligence relies on networks of agents that collect data, process information, and exchange it with neighbors to collaboratively solve optimization and learning problems. This article introduces a novel distributed…
For robots to successfully execute tasks assigned to them, they must be capable of planning the right sequence of actions. These actions must be both optimal with respect to a specified objective and satisfy whatever constraints exist in…
This paper presents a distributed multi-layer ring barrier coverage algorithm. In order to achieve single-layer ring barrier coverage, a distributed single-layer ring barrier coverage algorithm that maximises the probability of monitoring…
This paper presents a novel partial differential equation (PDE)-based framework for controlling an ensemble of robots, which have limited sensing and actuation capabilities and exhibit stochastic behaviors, to perform mapping and coverage…
This paper addresses the autonomous robot ergodicity problem for efficient environment exploration. The spatial distribution as a reference is given by a mixture of Gaussian and the mass generation of the robot is assumed to be skinny…
Given a set of co-located mobile robots in an unknown anonymous graph, the robots must relocate themselves in distinct graph nodes to solve the dispersion problem. In this paper, we consider the dispersion problem for silent robots…
In this paper, we study the multi-robot task allocation problem where a group of robots needs to be allocated to a set of tasks so that the tasks can be finished optimally. One task may need more than one robot to finish it. Therefore the…
Being able to transfer existing skills to new situations is a key capability when training robots to operate in unpredictable real-world environments. A successful transfer algorithm should not only minimize the number of samples that the…
In the NP-hard continuous 1.5D Terrain Guarding Problem (TGP) we are given an $x$-monotone chain of line segments in $\mathbb{R}^2$ (the terrain $T$) and ask for the minimum number of guards (located anywhere on $T$) required to guard all…
We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…
We study the labeled multi-robot path planning problem in continuous 2D and 3D domains in the absence of obstacles where robots must not collide with each other. For an arbitrary number of robots in arbitrary initial and goal arrangements,…
Tuning parameters is crucial for the performance of localization and mapping algorithms. In general, the tuning of the parameters requires expert knowledge and is sensitive to information about the structure of the environment. In order to…
We consider the facility location problem in the one-dimensional setting where each facility can serve a limited number of agents from the algorithmic and mechanism design perspectives. From the algorithmic perspective, we prove that the…
In this paper, we study the problem of coverage planning by a mobile robot with a limited energy budget. The objective of the robot is to cover every point in the environment while minimizing the traveled path length. The environment is…
A mobile robot represented by a point moving in the plane has to explore an unknown terrain with obstacles. Both the terrain and the obstacles are modeled as arbitrary polygons. We consider two scenarios: the unlimited vision, when the…
Fast algorithms for optimal multi-robot path planning are sought after in real-world applications. Known methods, however, generally do not simultaneously guarantee good solution optimality and good (e.g., polynomial) running time. In this…