Related papers: Time-optimal geodesic mutual visibility of robots …
The introduction and study of dispersing mobile robots across the nodes of an anonymous graph have recently gained traction and have been explored within various graph classes and settings. While optimal dispersion solution was established…
For a given graph \(G\), the general position problem asks for the largest set of vertices \(M \subseteq V(G)\) such that no three distinct vertices of \(M\) belong to a common shortest path in \(G\). A relaxation of this concept is based…
We study the {\sc Uniform Circle Formation} ({\sc UCF}) problem for a swarm of $n$ autonomous mobile robots operating in \emph{Look-Compute-Move} (LCM) cycles on the Euclidean plane. We assume our robots are \emph{luminous}, i.e. embedded…
Purpose of Review Planning collision-free paths for multiple robots is important for real-world multi-robot systems and has been studied as an optimization problem on graphs, called Multi-Agent Path Finding (MAPF). This review surveys…
This paper initiates the use of vector fields to design, optimize, and implement reactive schedules for safe cooperative robot patterns on planar graphs. We consider Automated Guided Vehicles (AGV's) operating upon a predefined network of…
Robots sense, move and act in the physical world. It is therefore natural that algorithmic problems in robotics and automation have a geometric component, often central to the problem. Below we review ten challenging problems at the…
In the dispersion problem, a set of $k$ co-located mobile robots must relocate themselves in distinct nodes of an unknown network. The network is modeled as an anonymous graph $G=(V,E)$, where the nodes of the graph are not labeled. The…
In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…
We exhibit an algorithm with continuous instructions for two robots moving without collisions on a track shaped as a wedge of three circles. We show that the topological complexity of the configuration space associated with this problem is…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
An open problem in robotics is that of using vision to identify a robot's own body and the world around it. Many models attempt to recover the traditional C-space parameters. Instead, we propose an alternative C-space by deriving…
We consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network intermittently connected. We abstract the task locations into…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…
Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for…
For robots to work alongside humans and perform in unstructured environments, they must learn new motion skills and adapt them to unseen situations on the fly. This demands learning models that capture relevant motion patterns, while…
Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents…
We study cooperative shortest path planning for an unmanned ground vehicle (UGV) assisted by an unmanned aerial vehicle (UAV) in environments with unknown road blockages that are only discovered when a robot reaches the damaged point. This…
We study the geodesic complexity of the ordered and unordered configuration spaces of graphs in both the $\ell_1$ and $\ell_2$ metrics. We determine the geodesic complexity of the ordered two-point $\varepsilon$-configuration space of any…
For a given graph $G$, the mutual-visibility problem asks for the largest set of vertices $M \subseteq V(G)$ with the property that for any pair of vertices $u,v \in M$ there exists a shortest $u,v$-path of $G$ that does not pass through…