Related papers: Arbitrary Pattern Formation on Infinite Regular Te…
In this work, we explore emergent behaviors by swarms of anonymous, homogeneous, non-communicating, reactive robots that do not know their global position and have limited relative sensing. We introduce a novel method that enables such…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
We study a variant of the Coordinated Motion Planning problem on undirected graphs, referred to herein as the \textsc{Coordinated Sliding-Motion Planning} (CSMP) problem. In this variant, we are given an undirected graph $G$, $k$ robots…
This paper presents a unified approach to realize versatile distributed maneuvering with generalized formations. Specifically, we decompose the robots' maneuvers into two independent components, i.e., interception and enclosing, which are…
As mobile robots and autonomous vehicles become increasingly prevalent in human-centred environments, there is a need to control the risk of collision. Perceptual modules, for example machine vision, provide uncertain estimates of object…
In the pattern formation problem, robots in a system must self-coordinate to form a given pattern, regardless of translation, rotation, uniform-scaling, and/or reflection. In other words, a valid final configuration of the system is a…
This work focuses on the following question related to the Gathering problem of $n$ autonomous, mobile robots in the Euclidean plane: Is it possible to solve Gathering of robots that do not agree on any axis of their coordinate systems…
In the field of complex networks and graph theory, new results are typically tested on graphs generated by a variety of algorithms such as the Erd\H{o}s-R\'{e}nyi model or the Barab\'{a}si-Albert model. Unfortunately, most graph generating…
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…
Different from most of the formation strategies where robots require unique labels to identify topological neighbors to satisfy the predefined shape constraints, we here study the problem of identity-less distributed shape formation in…
Robots operate in environments with varying implicit structure. For instance, a helicopter flying over terrain encounters a very different arrangement of obstacles than a robotic arm manipulating objects on a cluttered table top.…
We investigate gathering algorithms for asynchronous autonomous mobile robots moving in uniform ring-shaped networks. Different from most work using the Look-Compute-Move (LCM) model, we assume that robots have limited visibility and…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
The factor graph decentralized data fusion (FG-DDF) framework was developed for the analysis and exploitation of conditional independence in {heterogeneous Bayesian decentralized fusion problems, in which robots update and fuse pdfs over…
We study the problem of coordinating multiple robots along fixed geometric paths. Our contribution is threefold. First we formalize the intuitive concept of priorities as a binary relation induced by a feasible coordination solution,…
This paper studies the multi-robot reliable navigation problem in uncertain topological networks, which aims at maximizing the robot team's on-time arrival probabilities in the face of road network uncertainties. The uncertainty in these…
This paper presents a novel quasi-centralized approach for collision-free path planning of multi-robot systems (MRS) in obstacle-ridden environments. A new formation potential fields (FPF) concept is proposed around a virtual agent, located…
The well-studied DISPERSION problem is a fundamental coordination problem in distributed robotics, where a set of mobile robots must relocate so that each occupies a distinct node of a network. DISPERSION assumes that a robot can settle at…
We present a centralized algorithm for labeled, disk-shaped Multi-Robot Path Planning (MPP) in a continuous planar workspace with polygonal boundaries. Our method automatically transform the continuous problem into a discrete, graph-based…
Differential flatness enables efficient planning and control for underactuated robotic systems, but we lack a systematic and practical means of identifying a flat output (or determining whether one exists) for an arbitrary robotic system.…