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In this paper, we study the symmetric rendezvous search problem on the line with n > 2 robots that are unaware of their locations and the initial distances between them. In the symmetric version of this problem, the robots execute the same…
This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…
We consider the problem of searching for an intruder in a geometric domain by utilizing multiple search robots. The domain is a simply connected orthogonal polygon with edges parallel to the cartesian coordinate axes. Each robot has a…
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…
This research is motivated by the need for effective classification in ice-breaking dynamic simulations, aimed at determining the conditions under which an underwater vehicle will break through the ice. This simulation is extremely…
We study the problem of determining optimal coordinated motions for two disc robots in an otherwise obstacle-free plane. Using the total path length traced by the two disc centres as a measure of distance, we give an exact characterization…
Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…
In this paper, the parking problem of a swarm of mobile robots has been studied. The robots are deployed at the nodes of an infinite grid, which has a subset of prefixed nodes marked as parking nodes. Each parking node p_i has a capacity of…
This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…
Background: Loop closure detection is a crucial part in robot navigation and simultaneous location and mapping (SLAM). Appearance-based loop closure detection still faces many challenges, such as illumination changes, perceptual aliasing…
This work addresses the gathering problem for a set of autonomous, anonymous, and homogeneous robots with limited visibility operating in a continuous circle. The robots are initially placed at distinct positions, forming a rotationally…
We present a hybrid multi-robot coordination framework that combines decentralized path planning with centralized conflict resolution. In our approach, each robot autonomously plans its path and shares this information with a centralized…
Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capabilities. It takes time for the robot to move between…
We present methods for co-designing rigid robots over control and morphology (including discrete topology) over multiple objectives. Previous work has addressed problems in single-objective robot co-design or multi-objective control.…
In this paper, we investigate the possibility to deterministically solve the gathering problem (GP) with weak robots (anonymous, autonomous, disoriented, deaf and dumb, and oblivious). We introduce strong multiplicity detection as the…
This work proposes an autonomous multi-robot exploration pipeline that coordinates the behaviors of robots in an indoor environment composed of multiple rooms. Contrary to simple frontier-based exploration approaches, we aim to enable…
Gathering mobile robots is a widely studied problem in robotic research. This survey first introduces the related work, summarizing models and results. Then, the focus shifts on the open problem of gathering fat robots. In this context,…
We present a new method of learning a continuous occupancy field for use in robot navigation. Occupancy grid maps, or variants of, are possibly the most widely used and accepted method of building a map of a robot's environment. Various…
Recently, centralized receding horizon online multi-robot coverage path planning algorithms have shown remarkable scalability in thoroughly exploring large, complex, unknown workspaces with many robots. In a horizon, the path planning and…
We introduce a colorful version of separating path systems, in which two edges can only be separated from each other by two paths of distinct colors. We calculate the minimum sizes of such systems for various standard classes of graphs and…