Related papers: The Mutual Visibility Problem for Fat Robots with …
We consider a swarm of $n$ robots in \mathbb{R}^d. The robots are oblivious, disoriented (no common coordinate system/compass), and have limited visibility (observe other robots up to a constant distance). The basic formation task gathering…
In this paper, we consider the problem of scattering a swarm of mobile oblivious robots in a continuous space. We consider the fully asynchronous setting where robots may base their computation on past observations, or may be observed by…
In the field of swarm robotics, one of the most studied problem is Gathering. It asks for a distributed algorithm that brings the robots to a common location, not known in advance. We consider the case of robots constrained to move along…
The general position problem in graphs is to find the maximum number of vertices that can be selected such that no three vertices lie on a common shortest path. The mutual-visibility problem in graphs is to find the maximum number of…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
We study the problem of coordinating multiple robots along fixed geometric paths. Our contribution is threefold. First we formalize the intuitive concept of priorities as a binary relation induced by a feasible coordination solution,…
Understanding the computational power of mobile robot systems is a fundamental challenge in distributed computing. While prior work has focused on pairwise separations between models, we explore how robot capabilities, light observability,…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
An algorithm is demonstrated that finds an ordinary intersection in an arrangement of $n$ lines in $\mathbb{R}^2$, not all parallel and not all passing through a common point, in time $O(n \log{n})$. The algorithm is then extended to find…
Research indicates that humans can mistakenly assume that robots and humans have the same field of view, possessing an inaccurate mental model of robots. This misperception may lead to failures during human-robot collaboration tasks where…
We consider the following variant of the two dimensional gathering problem for swarms of robots: Given a swarm of $n$ indistinguishable, point shaped robots on a two dimensional grid. Initially, the robots form a closed chain on the grid…
We consider a bichromatic two-center problem for pairs of points. Given a set $S$ of $n$ pairs of points in the plane, for every pair, we want to assign a red color to one point and a blue color to the other, in such a way that the value…
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…
Motivated by the prospect of nano-robots that assist human physiological functions at the nanoscale, we investigate the coating problem in the three-dimensional model for hybrid programmable matter. In this model, a single agent with…
Pattern formation is one of the most fundamental problems in distributed computing, which has recently received much attention. In this paper, we initiate the study of distributed pattern formation in situations when some robots can be…
Robot vision is greatly affected by occlusions, which poses challenges to autonomous systems. The robot itself may hide targets of interest from the camera, while it moves within the field of view, leading to failures in task execution. For…
A subset $M$ of vertices in a graph $G$ is a mutual-visibility set if for any two vertices $u,v\in{M}$ there exists a shortest $u$-$v$ path in $G$ that contains no elements of $M$ as internal vertices. Let $\chi_{\mu}(G)$ be the least…
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…
The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…
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…