Related papers: Collaborative Dispersion by Silent Robots
We consider linear search for capturing an oblivious moving target by two autonomous robots with different communicating abilities. Both robots can communicate Face-to-Face (F2F) when co-located but in addition one robot is a Sender (can…
We consider the problem of constructing a maximum independent set with mobile myopic luminous robots on a grid network whose size is finite but unknown to the robots. In this setting, the robots enter the grid network one-by-one from a…
This paper addresses the problem of active information gathering for multi-robot systems. Specifically, we consider scenarios where robots are tasked with reducing uncertainty of dynamical hidden states evolving in complex environments. The…
In our prior work, we outlined an approach, named DisCoF, for cooperative pathfinding in distributed systems with limited sensing and communication range. Contrasting to prior works on cooperative pathfinding with completeness guarantees,…
In distributed optimization and machine learning, multiple nodes coordinate to solve large problems. To do this, the nodes need to compress important algorithm information to bits so that it can be communicated over a digital channel. The…
In this paper, we consider a large-scale instance of the classical Pickup-and-Delivery Vehicle Routing Problem (PDVRP) that must be solved by a network of mobile cooperating robots. Robots must self-coordinate and self-allocate a set of…
We consider the gathering problem for asynchronous and oblivious robots that cannot communicate explicitly with each other, but are endowed with visibility sensors that allow them to see the positions of the other robots. Most of the…
In this work, we explore emergent behaviors by swarms of anonymous, homogeneous, non-communicating, reactive robots that do not know their global position and have limited relative sensing. We introduce a novel method that enables such…
Computation load-sharing across a network of heterogeneous robots is a promising approach to increase robots capabilities and efficiency as a team in extreme environments. However, in such environments, communication links may be…
We prove that a simple distributed algorithm finds a constant approximation of an optimal distance-$k$ dominating set in graphs with no $K_{2,t}$-minor. The algorithm runs in a constant number of rounds. We further show how this procedure…
We present a novel scalable, fully distributed, and online method for simultaneous localisation and extrinsic calibration for multi-robot setups. Individual a priori unknown robot poses are probabilistically inferred as robots sense each…
To execute collaborative tasks in unknown environments, a robotic swarm needs to establish a global reference frame and locate itself in a shared understanding of the environment. However, it faces many challenges in real-world scenarios,…
In tasks such as surveying or monitoring remote regions, an autonomous robot must move while transmitting data over a wireless network with unknown, position-dependent transmission rates. For such a robot, this paper considers the problem…
Distributed vertex coloring is one of the classic problems and probably also the most widely studied problems in the area of distributed graph algorithms. We present a new randomized distributed vertex coloring algorithm for the standard…
We consider the distributed learning problem where a network of $n$ agents seeks to minimize a global function $F$. Agents have access to $F$ through noisy gradients, and they can locally communicate with their neighbors a network. We study…
In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onboard pose estimates and maps are maintained, which are then…
We propose a method to maintain high resource in a networked heterogeneous multi-robot system to resource failures. In our model, resources such as and computation are available on robots. The robots engaged in a joint task using these…
This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern deadlock issues and the failure to address dynamic…
Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance problem in multi-robot navigation with unknown obstacles.…
In this work, we initiate the research about the Gathering problem for robots with limited viewing range in the three-dimensional Euclidean space. In the Gathering problem, a set of initially scattered robots is required to gather at the…