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Robots' behavior and performance are determined both by hardware and software. The design process of robotic systems is a complex journey that involves multiple phases. Throughout this process, the aim is to tackle various criteria…
The problem of finding a path between two points while avoiding obstacles is critical in robotic path planning. We focus on the feasibility problem: determining whether such a path exists. We model the robot as a query-specific rectangular…
We consider n robots with limited visibility: each robot can observe other robots only up to a constant distance denoted as the viewing range. The robots operate in discrete rounds that are either fully synchronous (FSync) or…
This paper studies infinite graphs produced from a natural unfolding operation applied to finite graphs. Graphs produced via such operations are of finite degree and automatic over the unary alphabet (that is, they can be described by…
We study a recently introduced \textit{unconscious} mobile robot model, where each robot is associated with a \textit{color}, which is visible to other robots but not to itself. The robots are autonomous, anonymous, oblivious and silent,…
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…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
In this paper we consider multiple Automated Guided Vehicles (AGVs) navigating a common workspace to fulfill various intralogistics tasks, typically formulated as the Multi-Agent Path Finding (MAPF) problem. To keep plan execution…
Federated Learning (FL) has emerged as an essential framework for distributed machine learning, especially with its potential for privacy-preserving data processing. However, existing FL frameworks struggle to address statistical and model…
Flip graphs are a ubiquitous class of graphs, which encode relations induced on a set of combinatorial objects by elementary, local changes. Skeletons of associahedra, for instance, are the graphs induced by quadrilateral flips in…
In this paper, we propose a solution for legged robot localization using architectural plans. Our specific contributions towards this goal are several. Firstly, we develop a method for converting the plan of a building into what we denote…
A new decomposition method for nonstationary signals, named Adaptive Local Iterative Filtering (ALIF), has been recently proposed in the literature. Given its similarity with the Empirical Mode Decomposition (EMD) and its more rigorous…
Multi-Agent Path Finding (MAPF) is a fundamental problem in artificial intelligence and robotics, requiring the computation of collision-free paths for multiple agents navigating from their start locations to designated goals. As autonomous…
A discrete rotation algorithm can be apprehended as a parametric application $f\_\alpha$ from $\ZZ[i]$ to $\ZZ[i]$, whose resulting permutation ``looks like'' the map induced by an Euclidean rotation. For this kind of algorithm, to be…
Motion planning is a fundamental problem of robotics with applications in many areas of computer science and beyond. Its restriction to graphs has been investigated in the literature for it allows to concentrate on the combinatorial problem…
We consider the problem of warehouse multi-robot automation system in discrete-time and discrete-space configuration with focus on the task allocation and conflict-free path planning. We present a system design where a centralized server…
In this paper, we present a learning method to solve the unlabelled motion problem with motion constraints and space constraints in 2D space for a large number of robots. To solve the problem of arbitrary dynamics and constraints we propose…
Affine rotation surfaces are a generalization of the well-known surfaces of revolution. Affine rotation surfaces arise naturally within the framework of affine differential geometry, a field started by Blaschke in the first decades of the…
In this paper we are interested in lifting a prescribed group of automorphisms of a finite graph via regular covering projections. Here we describe with an example the problems we address and refer to the introductory section for the…
A novel multi-robot path planning approach is presented in this paper. Based on the standard Dijkstra, the algorithm looks for the optimal paths for a formation of robots, taking into account the possibility of split and merge. The…