Related papers: Oblivious Permutations on the Plane
Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
We consider linear search for capturing an oblivious moving target by two autonomous robots with different communicating abilities. Both robots can communicate Face-to-Face (F2F) when co-located but in addition one robot is a Sender (can…
This paper addresses the problem of multi-robot navigation where robots maneuver on a desired \(m\)-dimensional (i.e., \(m\)-D) manifold in the $n$-dimensional Euclidean space, and maintain a {\it flexible spatial ordering}. We consider $…
Mobile robots, especially those driving outdoors and in unstructured terrain, sometimes suffer from failures and errors in locomotion, like unevenly pressurized or flat tires, loose axes or de-tracked tracks. Those are errors that go…
Cuspidal robots can move from one inverse or direct kinematic solution to another without ever passing through a singularity. These robots have remained unknown because almost all industrial robots do not have this feature. However, in…
We study planning problems faced by robots operating in uncertain environments with incomplete knowledge of state, and actions that are noisy and/or imprecise. This paper identifies a new problem sub-class that models settings in which…
The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
Coordination of movement and configuration in robotic swarms is a challenging endeavor. Deciding when and where each individual robot must move is a computationally complex problem. The challenge is further exacerbated by difficulties…
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…
In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…
We give both efficient algorithms and hardness results for reconfiguring between two connected configurations of modules in the hexagonal grid. The reconfiguration moves that we consider are "pivots", where a hexagonal module rotates around…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
In the general pattern formation (GPF) problem, a swarm of simple autonomous, disoriented robots must form a given pattern. The robots' simplicity imply a strong limitation: When the initial configuration is rotationally symmetric, only…
Micro- and nanorobots are often controlled by global input signals, such as an electromagnetic or gravitational field. These fields move each robot maximally until it hits a stationary obstacle or another stationary robot. This paper…
Mobile robots, becoming increasingly autonomous, are capable of operating in diverse and unknown environments. This flexibility allows them to fulfill goals independently and adapting their actions dynamically without rigidly predefined…
This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then…
We introduce the mobile server problem, inspired by current trends to move computational tasks from cloud structures to multiple devices close to the end user. An example for this are embedded systems in autonomous cars that communicate in…
In this paper we outline the approach of solving special type of navigation tasks for robotic systems, when a coalition of robots (agents) acts in the 2D environment, which can be modified by the actions, and share the same goal location.…