Related papers: Deadlock and Noise in Self-Organized Aggregation W…
In this paper we propose and prove correct a new self-stabilizing velocity agreement (flocking) algorithm for oblivious and asynchronous robot networks. Our algorithm allows a flock of uniform robots to follow a flock head emergent during…
We study the Gathering problem for n autonomous mobile robots in semi-synchronous settings with persistent memory called light. It is well known that Gathering is impossible in a basic model when robots have no lights, if the system is…
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…
We present an algorithm that ensures in finite time the gathering of two robots in the non-rigid ASYNC model. To circumvent established impossibility results, we assume robots are equipped with 2-colors lights and are able to measure…
We propose a gathering protocol for an even number of robots in a ring-shaped network that allows symmetric but not periodic configurations as initial configurations, yet uses only local weak multiplicity detection. Robots are assumed to be…
In crowded environments, individuals must navigate around other occupants to reach their destinations. Understanding and controlling traffic flows in these spaces is relevant for coordinating robot swarms and designing infrastructure for…
In this work we consider the problem of gathering autonomous robots in the plane. In particular, we consider non-transparent unit-disc robots (i.e., fat) in an asynchronous setting. Vision is the only mean of coordination. Using a…
In this paper, we consider the gathering problem of seven autonomous mobile robots on triangular grids. The gathering problem requires that, starting from any connected initial configuration where a subgraph induced by all robot nodes…
This paper investigates efficient techniques to collect and concentrate an under-actuated particle swarm despite obstacles. Concentrating a swarm of particles is of critical importance in health-care for targeted drug delivery, where…
Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…
One of the most widely used techniques for data clustering is agglomerative clustering. Such algorithms have been long used across many different fields ranging from computational biology to social sciences to computer vision in part…
We present a decentralized control algorithm for a robotic swarm given the task of encapsulating static and moving targets in a bounded unknown environment. We consider minimalist robots without memory, explicit communication, or…
Recent advances in Distributed Computing highlight models and algorithms for autonomous swarms of mobile robots that self-organise and cooperate to solve global objectives. The overwhelming majority of works so far considers handmade…
Over the years, much research involving mobile computational entities has been performed. From modeling actual microscopic (and smaller) robots, to modeling software processes on a network, many important problems have been studied in this…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
The vast majority of existing Distributed Computing literature about mobile robotic swarms considers computability issues: characterizing the set of system hypotheses that enables problem solvability. By contrast, the focus of this work is…
In this letter, we present a distributed algorithm for flocking in complex environments that operates at constant altitude, without explicit communication, no a priori information about the environment, and by using only on-board sensing…
In this paper, we study the problem of gathering distance-1 myopic robots on an infinite triangular grid. We show that the algorithm developed by Goswami et al. (SSS, 2022) is lattice-linear (cf. Gupta and Kulkarni, SRDS 2023). This implies…
Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…
Collective motion is one of the most fascinating phenomena observed in the nature. In the last decade, it aroused so much attention in physics, control and robotics fields. In particular, many studies have been done in swarm robotics…