Related papers: Gathering with extremely restricted visibility
The deployment of simple emergent behaviors in swarm robotics has been well-rehearsed in the literature. A recent study has shown how self-aggregation is possible in a multitask approach -- where multiple self-aggregation task instances…
A broad range of inverse problems can be abstracted into the problem of minimizing the sum of several convex functions in a Hilbert space. We propose a proximal decomposition algorithm for solving this problem with an arbitrary number of…
We study the limits of linear modeling of swarm behavior by characterizing the inflection point beyond which linear models of swarm collective behavior break down. The problem we consider is a central place object gathering task. We design…
Projection methods are popular algorithms for iteratively solving feasibility problems in Euclidean or even Hilbert spaces. They employ (selections of) nearest point mappings to generate sequences that are designed to approximate a point in…
We consider the problem of scheduling arrivals to a congestion system with a finite number of users having identical deterministic demand sizes. The congestion is of the processor sharing type in the sense that all users in the system at…
We are interested in developing an automated system for detection of organized movements in human crowds. Computer vision algorithms can extract information from videos of crowded scenes and automatically detect and track groups of…
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…
To coordinate with other systems, agents must be able to determine what the systems are currently doing and predict what they will be doing in the future---plan and goal recognition. There are many methods for plan and goal recognition, but…
In this paper, we investigate the possibility to deterministically solve the gathering problem (GP) with weak robots (anonymous, autonomous, disoriented, deaf and dumb, and oblivious). We introduce strong multiplicity detection as the…
The convergence of the projection algorithm for solving the convex feasibility problem for a family of closed convex sets, is in connection with the regularity properties of the family. In the paper [18] are pointed out four cases of such a…
A team consisting of an unknown number of mobile agents, starting from different nodes of an unknown network, possibly at different times, have to meet at the same node. Agents are anonymous (identical), execute the same deterministic…
Interaction between vehicles and pedestrians is seen in many areas such as crosswalks and intersections. In this paper, we study a totally asymmetric simple exclusion process with a bottleneck at a boundary caused by an interaction. Due to…
The vast majority of existing Distributed Computing literature about mobile robotic swarms considers computability issues: characterizing the set of system hypotheses that enables problem solvability. By contrast, the focus of this work is…
While motion planning approaches for automated driving often focus on safety and mathematical optimality with respect to technical parameters, they barely consider convenience, perceived safety for the passenger and comprehensibility for…
Team assembly is a problem that demands trade-offs between multiple fairness criteria and computational optimization. We focus on four criteria: (i) fair distribution of workloads within the team, (ii) fair distribution of skills and…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
Consider a system of autonomous mobile robots initially randomly deployed on the nodes of an anonymous finite grid. A gathering algorithm is a sequence of moves to be executed independently by each robot so that all robots meet at a single…
Composite minimization involves a collection of smooth functions which are aggregated in a nonsmooth manner. In the convex setting, we design an algorithm by linearizing each smooth component in accordance with its main curvature. The…
Two multivehicle routing problems are considered in the framework that a visit to a location must take place during a specific time window in order to be counted and all time windows are the same length. In the first problem, the goal is to…
Collective movement is observed widely in nature, where individuals interact locally to produce globally ordered, coherent motion. In typical models of collective motion, each individual takes the average direction of multiple neighbors,…