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Compositional barrier functions are proposed in this paper to systematically compose multiple objectives for teams of mobile robots. The objectives are first encoded as barrier functions, and then composed using AND and OR logical…
Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures…
Inspired by the necessity of morphological adaptation in animals, a growing body of work has attempted to expand robot training to encompass physical aspects of a robot's design. However, reinforcement learning methods capable of optimizing…
Flag codes are multishot network codes consisting of sequences of nested subspaces (flags) of a vector space $\mathbb{F}_q^n$, where $q$ is a prime power and $\mathbb{F}_q$, the finite field of size $q$. In this paper we study the…
A profound challenge for A-Life is to construct agents whose behavior is 'life-like' in a deep way. We propose an architecture and approach to constructing networks driving artificial agents, using processes analogous to the processes that…
Multi-robot systems are an efficient method to explore and map an unknown environment. The simulataneous localization and mapping (SLAM) algorithm is common for single robot systems, however multiple robots can share respective map data in…
In recent years, the Robot Operating System (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and extensive advantages. In scientific research, the corresponding hardware…
The verification of cyber-physical systems operating in a safety-critical environment requires formal system models. The validity of the verification hinges on the precision of the model: possible behavior not captured in the model can…
With application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This…
From software development to robot control, modern agentic systems decompose complex objectives into a sequence of subtasks and choose a set of specialized AI agents to complete them. We formalize agentic workflows as directed acyclic…
The gathering over meeting nodes problem asks the robots to gather at one of the pre-defined meeting nodes. The robots are deployed on the nodes of an anonymous two-dimensional infinite grid which has a subset of nodes marked as meeting…
This paper addresses a Multi-Agent Collective Construction (MACC) problem that aims to build a three-dimensional structure comprised of cubic blocks. We use cube-shaped robots that can carry one cubic block at a time, and move forward,…
Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…
When reasoning about actions, e.g., by means of task planning or agent programming with Golog, the robot's actions are typically modeled on an abstract level, where complex actions such as picking up an object are treated as atomic…
We introduce a model of a controlled random graph process. In this model, the edges of the complete graph $K_n$ are ordered randomly and then revealed, one by one, to a player called Builder. He must decide, immediately and irrevocably,…
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…
We present a new version of our previously proposed algorithm enabling a swarm of robots to construct a desired shape from objects in the plane. We also describe a hardware realization for this system which makes use of simple and readily…
Key to our project flora robotica is the idea of creating a bio-hybrid system of tightly coupled natural plants and distributed robots to grow architectural artifacts and spaces. Our motivation with this ground research project is to lay a…
Coalition formation is a key topic in multiagent systems. One would prefer a coalition structure that maximizes the sum of the values of the coalitions, but often the number of coalition structures is too large to allow exhaustive search…
Let $G = (V, E)$ be an $m_1 \times \ldots \times m_k$ grid. Assuming that each $v \in V$ is occupied by a robot and a robot may move to a neighboring vertex in a step via synchronized rotations along cycles of $G$, we first establish that…