Related papers: Gathering of seven autonomous mobile robots on tri…
We study the Universal Solvability of Robot Motion Planning on Graphs (USolR) problem: given an undirected graph $G = (V, E)$ and $p$ robots, determine whether any arbitrary configuration of the robots can be transformed into any other…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
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,…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
Robust task-oriented grasp planning is vital for autonomous robotic precision assembly tasks. Knowledge of the objects' geometry and preconditions of the target task should be incorporated when determining the proper grasp to execute.…
The general position problem for graphs asks for the largest number of vertices in a subset $S \subseteq V(G)$ of a graph $G$ such that for any $u,v \in S$ and any shortest $u,v$-path $P$ we have $S \cap V(P) = \{ u,v\} $, whereas the…
We consider the problem of organizing a scattered group of $n$ robots in two-dimensional space, with geometric maximum distance $D$ between robots. The communication graph of the swarm is connected, but there is no central authority for…
The steady development of motor vehicle technology will enable cars of the near future to assume an ever increasing role in the decision making and control of the vehicle itself. In the foreseeable future, cars will have the ability to…
We consider the problem of completely covering an unknown discrete environment with a swarm of asynchronous, frequently-crashing autonomous mobile robots. We represent the environment by a discrete graph, and task the robots with occupying…
Given a set of $n\geq 1$ unit disk robots in the Euclidean plane, we consider the Pattern Formation problem, i.e., the robots must reposition themselves to form a given target pattern. This problem arises under obstructed visibility, where…
This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system. The objective is to produce a covering of an unknown workspace by a fixed number of robots such that the covered…
We investigate exploration algorithms for autonomous mobile robots evolving in uniform ring-shaped networks. Different from the usual Look-Compute-Move (LCM) model, we consider two characteristics: myopia and luminosity. Myopia means each…
The number of multi-robot systems deployed in field applications has increased dramatically over the years. Despite the recent advancement of navigation algorithms, autonomous robots often encounter challenging situations where the control…
Autonomous robots are currently one of the most popular Artificial Intelligence problems, having experienced significant advances in the last decade, from Self-driving cars and humanoids to delivery robots and drones. Part of the problem is…
The deployment of simple emergent behaviors in swarm robotics has been well-rehearsed in the literature. A recent study has shown how self-aggregation is possible in a multitask approach -- where multiple self-aggregation task instances…
In this paper, we study the circle formation problem by multiple autonomous and homogeneous disc-shaped robots (also known as fat robots). The goal of the robots is to place themselves on the periphery of a circle. Circle formation has many…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…
We study an elementary problem of the topological robotics: collective motion of a set of $n$ distinct particles which one has to move from an initial configuration to a final configuration, with the requirement that no collisions occur in…