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Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for…
The problem of target tracking with multiple robots consists of actively planning the motion of the robots to track the targets. A major challenge for practical deployments is to make the robots resilient to failures. In particular, robots…
If a robot can predict crowds in parts of its environment that are inaccessible to its sensors, then it can plan to avoid them. This paper proposes a fast, online algorithm that learns average crowd densities in different areas. It also…
In this paper we study multi robot cooperative task allocation issue in a situation where a swarm of robots is deployed in a confined unknown environment where the number of colored spots which represent tasks and the ratios of them are…
This paper aims to solve the coordination of a team of robots traversing a route in the presence of adversaries with random positions. Our goal is to minimize the overall cost of the team, which is determined by (i) the accumulated risk…
This study examines privacy risks in collaborative robotics, focusing on the potential for traffic analysis in encrypted robot communications. While previous research has explored low-level command recovery in teleoperation setups, our work…
We consider the following variant of the two dimensional gathering problem for swarms of robots: Given a swarm of $n$ indistinguishable, point shaped robots on a two dimensional grid. Initially, the robots form a closed chain on the grid…
Swarm perception refers to the ability of a robot swarm to utilize the perception capabilities of each individual robot, forming a collective understanding of the environment. Their distributed nature enables robot swarms to continuously…
There has been a recent paradigm shift in robotics to data-driven learning for planning and control. Due to large number of experiences required for training, most of these approaches use a self-supervised paradigm: using sensors to measure…
This paper considers cooperative control of robots involving two different testbed systems in remote locations with communication on the internet. This provides us the capability to exchange robots status like positions, velocities and…
Robot swarms offer significant potential for inspecting diverse infrastructure, ranging from bridges to space stations. However, effective inspection requires accurate robot localization, which demands substantial computational resources…
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…
The arm race between spambots and spambot-detectors is made of several cycles (or generations): a new wave of spambots is created (and new spam is spread), new spambot filters are derived and old spambots mutate (or evolve) to new species.…
Recent advancements in social bot detection have been driven by the adoption of Graph Neural Networks. The social graph, constructed from social network interactions, contains benign and bot accounts that influence each other. However,…
Multiple robots could perceive a scene (e.g., detect objects) collaboratively better than individuals, although easily suffer from adversarial attacks when using deep learning. This could be addressed by the adversarial defense, but its…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
Collaborative robots (cobots) increasingly operate alongside humans, demanding robust real-time safeguarding. Current safety standards (e.g., ISO 10218, ANSI/RIA 15.06, ISO/TS 15066) require risk assessments but offer limited guidance for…
Animal swarms displaying a variety of typical flocking patterns would not exist without underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with…
An important real-world application of multi-robot systems is multi-robot patrolling (MRP), where robots must carry out the activity of going through an area at regular intervals. Motivations for MRP include the detection of anomalies that…
Multi-robot flocking possesses extraordinary advantages over a single-robot system in diverse domains, but it is challenging to ensure safe and optimal performance in congested environments. Hence, this paper is focused on the investigation…