Related papers: Terminating grid exploration with myopic luminous …
Consider a set of $n$ mobile entities, called robots, located and operating on a continuous circle, i.e., all robots are initially in distinct locations on a circle. The \textit{gathering} problem asks to design a distributed algorithm that…
Isoperimetric robots are large scale, untethered inflatable robots that can undergo large shape changes, but have only been demonstrated in one 3D shape -- an octahedron. These robots consist of independent triangles that can change shape…
We investigate the problem of optimally assigning a large number of robots (or other types of autonomous agents) to guard the perimeters of closed 2D regions, where the perimeter of each region to be guarded may contain multiple disjoint…
Obstacle avoidance is one of the essential and indispensable functions for autonomous mobile robots. Most of the existing solutions are typically based on single condition constraint and cannot incorporate sensor data in a real-time manner,…
The dispersion problem on graphs requires $k$ robots placed arbitrarily at the $n$ nodes of an anonymous graph, where $k \leq n$, to coordinate with each other to reach a final configuration in which each robot is at a distinct node of the…
Multi-robot exploration is a field which tackles the challenge of exploring a previously unknown environment with a number of robots. This is especially relevant for search and rescue operations where time is essential. Current state of the…
In the field of swarm robotics, one of the most studied problem is Gathering. It asks for a distributed algorithm that brings the robots to a common location, not known in advance. We consider the case of robots constrained to move along…
How to observe the state of a network from a limited number of measurements has become an important issue in complex networks, engineering, communication, epidemiology, etc. Under some scenarios, it is neither unfeasible nor unnecessary to…
A key problem of robotic environmental sensing and monitoring is that of active sensing: How can a team of robots plan the most informative observation paths to minimize the uncertainty in modeling and predicting an environmental…
Cyborg insects refer to hybrid robots that integrate living insects with miniature electronic controllers to enable robotic-like programmable control. These creatures exhibit advantages over conventional robots in adaption to complex…
This paper addresses the complete area coverage problem of a known environment by multiple-robots. Complete area coverage is the problem of moving an end-effector over all available space while avoiding existing obstacles. In such tasks,…
We present an algorithm to explore an orthogonal polygon using a team of $p$ robots. This algorithm combines ideas from information-theoretic exploration algorithms and computational geometry based exploration algorithms. We show that the…
Robotic Exploration has evolved rapidly in the past two decades as new and more complex techniques have been created to explore unknown regions efficiently. Exciting advancements in exploration, autonomous navigation, and sensor technology…
The chase procedure is a fundamental algorithmic tool in databases that allows us to reason with constraints, such as existential rules, with a plethora of applications. It takes as input a database and a set of constraints, and iteratively…
The aim of the dispersion problem is to place a set of $k(\leq n)$ mobile robots in the nodes of an unknown graph consisting of $n$ nodes such that in the final configuration each node contains at most one robot, starting from any arbitrary…
Robotic exploration of underground environments is a particularly challenging problem due to communication, endurance, and traversability constraints which necessitate high degrees of autonomy and agility. These challenges are further…
We present an algorithm to compute planar linkage topology and geometry, given a user-specified end-effector trajectory. Planar linkage structures convert rotational or prismatic motions of a single actuator into an arbitrarily complex…
An oblivious mobile robot is a stateless computational entity located in a spatial universe, capable of moving in that universe. When activated, the robot observes the universe and the location of the other robots, chooses a destination,…
In a context of autonomous robots, one of the most important task is to ensure the safety of the robot and its surrounding. Most of the time, the risk of navigation is simply said to be the probability of collision. This notion of risk is…
Consider a region that requires to be protected from unauthorized penetrations. The border of the region, modeled as a unit line segment, consists of high priority segments that require the highest level of protection separated by low…