Related papers: Asynchronous Gathering Algorithms for Autonomous M…
Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…
This paper is concerned with efficiently coloring sparse graphs in the distributed setting with as few colors as possible. According to the celebrated Four Color Theorem, planar graphs can be colored with at most 4 colors, and the proof…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
When a large number of robots try to reach a common area, congestions happen, causing severe delays. To minimise congestion in a robotic swarm system, traffic control algorithms must be employed in a decentralised manner. Based on…
We describe simple linear time algorithms for coloring the squares of balanced and unbalanced quadtrees so that no two adjacent squares are given the same color. If squares sharing sides are defined as adjacent, we color balanced quadtrees…
The Meeting problem for $k\geq 2$ searchers in a polygon $P$ (possibly with holes) consists in making the searchers move within $P$, according to a distributed algorithm, in such a way that at least two of them eventually come to see each…
This paper tackles the challenge of coordinating traffic lights and automated vehicles at signalized intersections, formulated as a constrained finite-horizon optimal control problem. The problem falls into the category of mixed-integer…
The Dancing problem requires a swarm of $n$ autonomous mobile robots to form a sequence of patterns, aka perform a choreography. Existing work has proven that some crucial restrictions on choreographies and initial configurations (e.g., on…
The paper considers the NP-hard graph vertex coloring problem, which differs from traditional problems in which it is required to color vertices with a given (or minimal) number of colors so that adjacent vertices have different colors. In…
We present a decentralized algorithm to achieve segregation into an arbitrary number of groups with swarms of autonomous robots. The distinguishing feature of our approach is in the minimalistic assumptions on which it is based.…
We study the convergence problem in fully asynchronous, uni-dimensional robot networks that are prone to Byzantine (i.e. malicious) failures. In these settings, oblivious anonymous robots with arbitrary initial positions are required to…
This paper proposes a strategy for a group of deaf and dumb robots, carrying clocks from different countries, to meet at a geographical location which is not fixed in advanced. The robots act independently. They can observe others, compute…
In this paper we investigate the computational power of a set of mobile robots with limited visibility. At each iteration, a robot takes a snapshot of its surroundings, uses the snapshot to compute a destination point, and it moves toward…
In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm…
In this paper, we consider the partial gathering problem of mobile agents in synchronous dynamic bidirectional ring networks. When k agents are distributed in the network, the partial gathering problem requires, for a given positive integer…
An optimal algorithm is presented about Conflict-Free Coloring for connected subgraphs of tree of rings. Suppose the number of the rings in the tree is |T| and the maximum length of rings is |R|. A presented algorithm in [1] for a Tree of…
Steering traffic in cities is a very complex task, since improving efficiency involves the coordination of many actors. Traditional approaches attempt to optimize traffic lights for a particular density and configuration of traffic. The…
We introduce two generalizations of synchronizability to automata with transitions weighted in an arbitrary semiring K=(K,+,*,0,1). (or equivalently, to finite sets of matrices in K^nxn.) Let us call a matrix A location-synchronizing if…
A metamorphic robotic system (MRS) consists of anonymous modules, each of which autonomously moves in the 2D square grid by sliding and rotation with keeping connectivity among the modules. Existing literature considers distributed…
With the recent proliferation of large-scale learning problems,there have been a lot of interest on distributed machine learning algorithms, particularly those that are based on stochastic gradient descent (SGD) and its variants. However,…