Related papers: Asynchronous Scattering
Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…
Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…
This paper addresses the visibility-based pursuit-evasion problem where a team of pursuer robots operating in a two-dimensional polygonal space seek to establish visibility of an arbitrarily fast evader. This is a computationally…
Swarms of drones are being more and more used in many practical scenarios, such as surveillance, environmental monitoring, search and rescue in hardly-accessible areas, etc.. While a single drone can be guided by a human operator, the…
The mobility problem for suspension of spherical particles immersed in an arbitrary flow of a viscous, incompressible fluid is considered in the regime of low Reynolds numbers. The scattering series which appears in the mobility problem is…
This paper develops a scattering theory for the asymmetric transport observed at interfaces separating two-dimensional topological insulators. Starting from the spectral decomposition of an unperturbed interface Hamiltonian, we present a…
We propose a decentralized algorithm to collaboratively transport arbitrarily shaped objects using a swarm of robots. Our approach starts with a task allocation phase that sequentially distributes locations around the object to be…
The theory of scattering of atom pairs in a periodic potential is presented for the case of different atoms. When the scattering dynamics is restricted to the lowest Bloch band of the periodic potential, a separation in relative and average…
To plan the trajectories of a large-scale heterogeneous swarm, sequentially or synchronously distributed methods usually become intractable due to the lack of global clock synchronization. To this end, we provide a novel asynchronous…
Animal swarms displaying a variety of typical flocking patterns would not exist without underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with…
We consider the navigation of mobile robots in crowded environments, for which onboard sensing of the crowd is typically limited by occlusions. We address the problem of inferring the human occupancy in the space around the robot, in blind…
For a general complex scattering potential defined on a real line, we show that the equations governing invisibility of the potential are invariant under the combined action of parity and time-reversal (PT) transformation. We determine the…
We demonstrate how efficient autonomous drone swarms can be in detecting and tracking occluded targets in densely forested areas, such as lost people during search and rescue missions. Exploration and optimization of local viewing…
One main challenge in time series anomaly detection for industrial IoT lies in the complex spatio-temporal couplings within multivariate data. However, traditional anomaly detection methods focus on modeling spatial or temporal dependencies…
A non-unitary version of quantum scattering is studied via an exactly solvable toy model. The model is merely asymptotically local since the smooth path of the coordinate is admitted complex in the non-asymptotic domain. At any real…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
A generalization of the S-parameter retrieval method for finite three-dimensional inhomogeneous objects under arbitrary illumination and observation conditions is presented. The effective permittivity of such objects may be rigorously…
An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…
In collective motion, perceptually-limited individuals move in an ordered manner, without centralized control. The perception of each individual is highly localized, as is its ability to interact with others. While natural collective motion…
The paper details the first successful attempt at using model-checking techniques to verify the correctness of distributed algorithms for robots evolving in a \emph{continuous} environment. The study focuses on the problem of rendezvous of…