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Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
We present a novel framework for addressing the challenges of multi-Agent planning and formation control within intricate and dynamic environments. This framework transforms the Multi-Agent Path Finding (MAPF) problem into a Multi-Agent…
The dispersion problem on graphs requires $k$ robots placed arbitrarily at the $n$ nodes of an anonymous graph, where $k \leq n$, to coordinate with each other to reach a final configuration in which each robot is at a distinct node of the…
Motivated by applications in energy-efficient scheduling in data centers, Khuller, Li, and Saha introduced the {\em machine activation} problem as a generalization of the classical optimization problems of set cover and load balancing on…
We study a problem of online targets coverage by a drone or a sensor that is equipped with a camera or an antenna of fixed half-angle of view $\alpha$. The targets to be monitored appear at arbitrary positions on a line barrier in an online…
An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…
We present the Limited-range Online Routing Problem (LORP), which involves a team of Unmanned Aerial Vehicles (UAVs) with limited communication range that must autonomously coordinate to service task requests. We first show a general…
The security of mobile robotic networks (MRNs) has been an active research topic in recent years. This paper demonstrates that the observable interaction process of MRNs under formation control will present increasingly severe threats.…
Arbitrary Pattern formation ($\mathcal{APF}$) by a swarm of mobile robots is a widely studied problem in the literature. Many works regarding $\mathcal{APF}$ have been proposed on plane and infinite grid by point robots. But in practical…
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
Sensor coverage is the critical multi-robot problem of maximizing the detection of events in an environment through the deployment of multiple robots. Large multi-robot systems are often composed of simple robots that are typically not…
We consider a perimeter defense problem in a rooted full tree graph environment in which a single defending vehicle seeks to defend a set of specified vertices, termed as the perimeter from mobile intruders that enter the environment…
In this paper, we propose a distributed algorithm to uniformly scatter the robots along a grid, with robots on alternate nodes of this grid distribution. These homogeneous, autonomous mobile robots place themselves equidistant apart on the…
The massive integration of distributed energy resources changes the operational demands of the electric power distribution system, motivating optimization-based approaches. The added computational complexities of the resulting optimal power…
This paper proposes a distributed algorithm for a set of tiny unit disc shaped robot to form a straight line. The robots are homoge- neous, autonomous, anonymous. They observe their surrounding up to a certain distance, compute destinations…
Autonomous robots are widely utilized for mapping and exploration tasks due to their cost-effectiveness. Multi-robot systems offer scalability and efficiency, especially in terms of the number of robots deployed in more complex…
In several applications of online optimization to networked systems such as power grids and robotic networks, information about the system model and its disturbances is not generally available. Within the optimization community, increasing…
The traditional distributed model of autonomous, homogeneous, mobile point robots usually assumes that the robots do not create any visual obstruction for the other robots, i.e., the robots are see through. In this paper, we consider a…
In multi-robot informative path planning the problem is to find a route for each robot in a team to visit a set of locations that can provide the most useful data to reconstruct an unknown scalar field. In the budgeted version, each robot…