Related papers: Optimal Gathering over Weber Meeting Nodes in Infi…
The introduction and study of dispersing mobile robots across the nodes of an anonymous graph have recently gained traction and have been explored within various graph classes and settings. While optimal dispersion solution was established…
A team consisting of an unknown number of mobile agents, starting from different nodes of an unknown network, have to meet at the same node and terminate. This problem is known as {\em gathering}. We study deterministic gathering algorithms…
Gracefully degrading algorithms [Biely \etal, TCS 2018] are designed to circumvent impossibility results in dynamic systems by adapting themselves to the dynamics. Indeed, such an algorithm solves a given problem under some dynamics and,…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…
We consider a variant of the crash-fault gathering problem called stand-up indulgent gathering (SUIG). In this problem, a group of mobile robots must eventually gather at a single location, which is not known in advance. If no robots crash,…
Systems of networked mobile robots, such as unmanned aerial or ground vehicles, will play important roles in future military and commercial applications. The communications for such systems will typically be over wireless links and may…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
We present a new algorithm for the problem of universal gathering mobile oblivious robots (that is, starting from any initial configuration that is not bivalent, using any number of robots, the robots reach in a finite number of steps the…
Given a set of co-located mobile robots in an unknown anonymous graph, the robots must relocate themselves in distinct graph nodes to solve the dispersion problem. In this paper, we consider the dispersion problem for silent robots…
Two fundamental problems of distributed computing are Gathering and Arbitrary pattern formation (\textsc{Apf}). These two tasks are different in nature as in gathering robots meet at a point but in \textsc{Apf} robots form a fixed pattern…
We study the \textit{min-sum uniform coverage} problem for a swarm of $n$ mobile robots on a given finite line segment and on a circle having finite positive radius, where the circle is given as an input. The robots must coordinate their…
We consider a strong variant of the crash fault-tolerant gathering problem called stand-up indulgent gathering (SUIG), by robots endowed with limited visibility sensors and lights on line-shaped networks. In this problem, a group of mobile…
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…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
This paper revisits the widely researched \textit{gathering} problem for two robots in a scenario which allows randomization in the asynchronous scheduling model. The scheduler is considered to be the adversary which determines the…
In this paper, we propose a distributed algorithm to uniformly scatter the robots along a grid, with robots on alternate nodes of this grid distribution. These homogeneous, autonomous mobile robots place themselves equidistant apart on the…
An autonomous mobile robot system is a distributed system consisting of mobile computational entities (called robots) that autonomously and repeatedly perform three operations: Look, Compute, and Move. Various problems related to autonomous…
We consider a collection of $k \geq 2$ robots that evolve in a ring-shaped network without common orientation, and address a variant of the crash-tolerant gathering problem called the \emph{Stand-Up Indulgent Gathering} (SUIG): given a…