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Nowadays, several real-world tasks require adequate environment coverage for maintaining communication between multiple robots, for example, target search tasks, environmental monitoring, and post-disaster rescues. In this study, we look…
The dominating set problem and its generalization, the distance-$r$ dominating set problem, are among the well-studied problems in the sequential settings. In distributed models of computation, unlike for domination, not much is known about…
Many core problems in robotics can be framed as constrained optimization problems. Often on these problems, the robotic system has uncertainty, or it would be advantageous to identify multiple high quality feasible solutions. To enable…
We study the Convex Set Disjointness (CSD) problem, where two players have input sets taken from an arbitrary fixed domain~$U\subseteq \mathbb{R}^d$ of size $\lvert U\rvert = n$. Their mutual goal is to decide using minimum communication…
This paper deals with the problem of autonomous navigation of a mobile robot in an unknown 2D environment to fully explore the environment as efficiently as possible. We assume a terrestrial mobile robot equipped with a ranging sensor with…
This paper proposes a method to navigate a mobile robot by estimating its state over a number of distributed sensor networks (DSNs) such that it can successively accomplish a sequence of tasks, i.e., its state enters each targeted set and…
Solving linear programs is often a challenging task in distributed settings. While there are good algorithms for solving packing and covering linear programs in a distributed manner (Kuhn et al.~2006), this is essentially the only class of…
Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…
In this paper, we propose a distributed algorithm for the minimum dominating set problem. For some especial networks, we prove theoretically that the achieved answer by our proposed algorithm is a constant approximation factor of the exact…
The traditional distributed model of autonomous, homogeneous, mobile point robots usually assumes that the robots do not create any visual obstruction for the other robots, i.e., the robots are see through. In this paper, we consider a…
In this paper we study multi-robot path planning for persistent monitoring tasks. We consider the case where robots have a limited battery capacity with a discharge time $D$. We represent the areas to be monitored as the vertices of a…
In densely-packed robot swarms operating in confined regions, spatial interference -- which manifests itself as a competition for physical space -- forces robots to spend more time navigating around each other rather than performing the…
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 propose a self-contained, resilient and fully distributed solution for locating the maximum of an unknown scalar field using a swarm of robots that travel at a constant speed. Unlike conventional reactive methods relying on gradient…
This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…
The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…
This paper presents a distributed, optimal, communication-aware trajectory planning algorithm for multi-robot systems. Building on prior work, it addresses the multi-robot communication-aware trajectory planning problem using a general…
We study a recently introduced \textit{unconscious} mobile robot model, where each robot is associated with a \textit{color}, which is visible to other robots but not to itself. The robots are autonomous, anonymous, oblivious and silent,…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
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…