Related papers: Time Optimal Gathering of Myopic Robots on an Infi…
In this paper we introduce the notion of optimization under control and communication constraint in a robotic network. Starting from a general setup, we focus our attention on the problem of achieving rendezvous in minimum time for a…
This paper proposes a new optimal control synthesis algorithm for multi-robot systems under global temporal logic tasks. Existing planning approaches under global temporal goals rely on graph search techniques applied to a product automaton…
We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient…
For enabling efficient, large-scale coordination of unmanned aerial vehicles (UAVs) under the labeled setting, in this work, we develop the first polynomial time algorithm for the reconfiguration of many moving bodies in three-dimensional…
We study the problem of planning the deployments of a group of mobile robots. While the problem and formulation can be used for many different problems, here we use a bridge inspection as the motivating application for the purpose of…
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…
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 addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
Two identical anonymous mobile agents have to meet at a node of the infinite oriented grid whose nodes are unlabeled. This problem is known as rendezvous. The agents execute the same deterministic algorithm. Time is divided into rounds, and…
We consider a team of $k$ identical, oblivious, asynchronous mobile robots that are able to sense (\emph{i.e.}, view) their environment, yet are unable to communicate, and evolve on a constrained path. Previous results in this weak scenario…
Multi-robot formation control enables robots to cooperate as a working group in completing complex tasks, which has been widely used in both civilian and military scenarios. Before moving to reach a given formation, each robot should choose…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
We consider fundamental scheduling problems motivated by energy issues. In this framework, we are given a set of jobs, each with a release time, deadline and required processing length. The jobs need to be scheduled on a machine so that at…
Consider a region that requires to be protected from unauthorized penetrations. The border of the region, modeled as a unit line segment, consists of high priority segments that require the highest level of protection separated by low…
We investigate time-optimal Multi-Robot Coverage Path Planning (MCPP) for both unweighted and weighted terrains, which aims to minimize the coverage time, defined as the maximum travel time of all robots. Specifically, we focus on a…
We show that the max-min-angle polygon in a planar point set can be found in time $O(n\log n)$ and a max-min-solid-angle convex polyhedron in a three-dimensional point set can be found in time $O(n^2)$. We also study the maxmin-angle…
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…
This paper studies the time-optimal path tracking problem for a team of cooperating robotic manipulators carrying an object. Considering the problem for rigidly grasped objects, we show that it can be cast as a convex optimization problem…
A basic task in the design of a robotic production cell is the relative placement of robot and workpiece. The fundamental requirement is that the robot can reach all process positions; only then one can think of further optimization.…