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We study robot construction problems where multiple autonomous robots rearrange stacks of prefabricated blocks to build stable structures. These problems are challenging due to ramifications of actions, true concurrency, and requirements of…
Multi-robot formation control enables robots to cooperate as a working group in completing complex tasks, which has been widely used in both civilian and military scenarios. Before moving to reach a given formation, each robot should choose…
The exploration problem in the discrete universe, using identical oblivious asynchronous robots without direct communication, has been well investigated. These robots have sensors that allow them to see their environment and move…
We consider the configuration formation problem in modular robotic systems where a set of singleton modules that are spatially distributed in an environment are required to assume appropriate positions so that they can configure into a new,…
We study verification problems for autonomous swarms of mobile robots that self-organize and cooperate to solve global objectives. In particular, we focus in this paper on the model proposed by Suzuki and Yamashita of anonymous robots…
We present a new algorithm for the problem of universal gathering mobile oblivious robots (that is, starting from any initial configuration that is not bivalent, using any number of robots, the robots reach in a finite number of steps the…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
We are given $N$ autonomous mobile robots inside a bounded region. The robots are opaque which means that three collinear robots are unable to see each other as one of the robots acts as an obstruction for the other two. They operate in…
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…
Using mobile robots for autonomous patrolling of environments to prevent intrusions is a topic of increasing practical relevance. One of the most challenging scientific issues is the problem of finding effective patrolling strategies that,…
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the…
We consider a swarm of $n$ autonomous mobile robots, distributed on a 2-dimensional grid. A basic task for such a swarm is the gathering process: All robots have to gather at one (not predefined) place. A common local model for extremely…
This paper studies, for the first time, the trajectory planning problem in adversarial environments, where the objective is to design the trajectory of a robot to reach a desired final state despite the unknown and arbitrary action of an…
In this paper, we address the shape formation problem for massive robot swarms in environments where external localization systems are unavailable. Achieving this task effectively with solely onboard measurements is still scarcely explored…
We extend the motion-planning-through-gadgets framework to several new scenarios involving various numbers of robots/agents, and analyze the complexity of the resulting motion-planning problems. While past work considers just one robot or…
An oblivious mobile robot is a stateless computational entity located in a spatial universe, capable of moving in that universe. When activated, the robot observes the universe and the location of the other robots, chooses a destination,…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
Recent work in explanation generation for decision making agents has looked at how unexplained behavior of autonomous systems can be understood in terms of differences in the model of the system and the human's understanding of the same,…
This research paper addresses the challenges of exploration and navigation in unknown environments from an evolutionary swarm robotics perspective. Path formation plays a crucial role in enabling cooperative swarm robots to accomplish these…
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…