Related papers: Fort Formation by an Automaton
A robot modeled as a deterministic finite automaton has to build a structure from material available to it. The robot navigates in the infinite oriented grid $\mathbb{Z} \times \mathbb{Z}$. Some cells of the grid are full (contain a brick)…
Building structures can allow a robot to surmount large obstacles, expanding the set of areas it can reach. This paper presents a planning algorithm to automatically determine what structures a construction-capable robot must build in order…
In 2018, forts were defined as non-empty subsets of vertices in a graph where no vertex outside the set has exactly one neighbor in the set. Forts have since been used to characterize zero forcing sets, model zero forcing as an integer…
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…
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…
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…
Consider a small group of mobile agents whose goal is to locate a certain cell in a two-dimensional infinite grid. The agents operate in an asynchronous environment, where in each discrete time step, an arbitrary subset of the agents…
The Arbitrary Pattern Formation problem asks to design a distributed algorithm that allows a set of autonomous mobile robots to form any specific but arbitrary geometric pattern given as input. The problem has been extensively studied in…
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 paper presents a deterministic algorithm for forming a given asymmetric pattern in finite time by a set of autonomous, homogeneous, oblivious mobile robots under the CORDA model. The robots are represented as points on the 2D plane.…
With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by special structures on robots require a more general navigation…
Imagine we want to split a group of agents into teams in the most \emph{efficient} way, considering that each agent has their own preferences about their teammates. This scenario is modeled by the extensively studied \textsc{Coalition…
In this paper we study the strengths and limitations of collaborative teams of simple agents. In particular, we discuss the efficient use of "ant robots" for covering a connected region on the Z^{2} grid, whose area is unknown in advance,…
This paper presents the concept of an In situ Fabricator, a mobile robot intended for on-site manufacturing, assembly and digital fabrication. We present an overview of a prototype system, its capabilities, and highlight the importance of…
Arbitrary Pattern Formation (APF) is a fundamental coordination problem in swarm robotics. It requires a set of autonomous robots (mobile computing units) to form an arbitrary pattern (given as input) starting from any initial pattern. This…
Additive robotic construction of building-scale discrete bar structures, such as trusses and space frames, is increasingly attractive due to the potential improvements in efficiency, safety, and design possibilities. However, programming…
In this work, we present a novel automated procedure for constructing a metric map of an unknown domain with obstacles using uncertain position data collected by a swarm of resource-constrained robots. The robots obtain this data during…
In this paper we present some results obtained with a troupe of low-cost robots designed to cooperatively explore and adquire the map of unknown structured orthogonal environments. In order to improve the covering of the explored zone, the…
A common task in robotics is unloading identical goods from a tray with rectangular grid structure. This naturally leads to the idea of programming the process at one grid position only and translating the motion to the other grid points,…
A deterministic finite automaton in which every non-empty set of states occurs as the image of the whole state set under the action of a suitable input word is called completely reachable. We characterize such automata in terms of graphs…