Related papers: Efficiently Reconfiguring a Connected Swarm of Lab…
We consider methods for connected reconfigurations by finite automate in the so-called \emph{hybrid} or \emph{Robot-on-Tiles} model of programmable matter, in which a number of simple robots move on and rearrange an arrangement of passive…
A $t$-spanner of an undirected $n$-vertex graph $G$ is a sparse subgraph $H$ of $G$ that preserves all pairwise distances between its vertices to within multiplicative factor $t$, also called the \emph{stretch}. We investigate the problem…
Emerging reconfigurable optical communication technologies allow to enhance datacenter topologies with demand-aware links optimized towards traffic patterns. This paper studies the algorithmic problem of jointly optimizing topology and…
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…
In this work, we analyze \textit{stochastic coverage schemes} (SCS) for robotic swarms in which the robots randomly attach to a one-dimensional boundary of interest using local communication and sensing, without relying on global position…
It is known from both theory and experiments that introducing time delays into the communication network of mobile-agent swarms produces coherent rotational patterns. Often such spatio-temporal rotations can be bistable with other swarming…
In collective robotic systems, the automatic generation of controllers for complex tasks is still a challenging problem. Open-ended evolution of complex robot behaviors can be a possible solution whereby an intrinsic driver for pattern…
This paper presents a scalable solution with adjustable computation time for the joint problem of scheduling and assigning machines and transporters for missions that must be completed in a fixed order of operations across multiple stages.…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
We present a decoupled algorithm for motion planning for a collection of unit-balls moving among polyhedral obstacles in $\mathbb{R}^d$, for any $d \ge 2$. We assume that the robots have revolving areas in the vicinity of their start and…
Different from most of the formation strategies where robots require unique labels to identify topological neighbors to satisfy the predefined shape constraints, we here study the problem of identity-less distributed shape formation in…
This work presents a hybrid approach to solve the maximum stable set problem, using constraint and semidefinite programming. The approach consists of two steps: subproblem generation and subproblem solution. First we rank the variable…
The problem of target tracking with multiple robots consists of actively planning the motion of the robots to track the targets. A major challenge for practical deployments is to make the robots resilient to failures. In particular, robots…
Jointly achieving safety and efficiency in human-robot interaction (HRI) settings is a challenging problem, as the robot's planning objectives may be at odds with the human's own intent and expectations. Recent approaches ensure safe robot…
In the pattern formation problem, robots in a system must self-coordinate to form a given pattern, regardless of translation, rotation, uniform-scaling, and/or reflection. In other words, a valid final configuration of the system is a…
We consider systems made of autonomous mobile robots evolving in highly dynamic discrete environment i.e., graphs where edges may appear and disappear unpredictably without any recurrence, stability, nor periodicity assumption. Robots are…
This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…
*The following abbreviates the abstract. Please refer to the thesis for the full abstract.* After a disaster, locating and extracting victims quickly is critical because mortality rises rapidly after the first two days. To assist search and…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
Despite recent progress on trajectory planning of multiple robots and path planning of a single tethered robot, planning of multiple tethered robots to reach their individual targets without entanglements remains a challenging problem. In…