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With the rapid upliftment of technology, there has emerged a dire need to fine-tune or optimize certain processes, software, models or structures, with utmost accuracy and efficiency. Optimization algorithms are preferred over other methods…
There is a belief that complexity and chaos are essential for adaptability. But life deals with complexity every moment, without the chaos that engineers fear so, by invoking goal-directed behaviour. Goals can be programmed. That is why…
Several mobile agents, modelled as deterministic automata, navigate in an infinite line in synchronous rounds. All agents start in the same round. In each round, an agent can move to one of the two neighboring nodes, or stay idle. Agents…
The rapid progress of Large Language Models has advanced agentic systems in decision-making, coordination, and task execution. Yet, existing agentic system generation frameworks lack full autonomy, missing from-scratch agent generation,…
Autonomous navigation of UAV swarms in perceptually-degraded environments, where GPS is unavailable and terrain is densely cluttered, presents a critical bottleneck for real-world deployment. Existing optimization-based planners lack the…
We present in this paper an exertion of our previous work by increasing the robustness and coverage of the evolution search via hybridisation with a state-of-the-art novelty search and accelerate the individual agent behaviour searches via…
This paper addresses semantic planning problems in unknown environments under perceptual uncertainty. The environment contains multiple unknown semantically labeled regions or objects, and the robot must reach desired locations while…
Routing and scheduling problems are fundamental problems in combinatorial optimization, and also have many applications. Most variations of these problems are NP-Hard, so we need to use heuristics to solve these problems on large instances,…
Informative path planning algorithms are of paramount importance in applications like disaster management to efficiently gather information through a priori unknown environments. This is, however, a complex problem that involves finding a…
In this paper we address the complexity issues of two agreement problems in oblivious robot networks namely gathering and scattering. These abstractions are fundamental coordination problems in cooperative mobile robotics. Moreover, their…
The paper represents an algorithm for planning safe and optimal routes for transport facilities with unrestricted movement direction that travel within areas with obstacles. Paper explains the algorithm using a ship as an example of such a…
Swarm robots, which are inspired from the way insects behave collectively in order to achieve a common goal, have become a major part of research with applications involving search and rescue, area exploration, surveillance etc. In this…
A key requirement in robotics is the ability to simultaneously self-localize and map a previously unknown environment, relying primarily on onboard sensing and computation. Achieving fully onboard accurate simultaneous localization and…
The hunter and gatherer approach copes with the problem of dynamic multi-robot task allocation, where tasks are unknowingly distributed over an environment. This approach employs two complementary teams of agents: one agile in exploring…
Solving a collision-aware multi-agent mission planning (task allocation and path finding) problem is challenging due to the requirement of real-time computational performance, scalability, and capability of handling static/dynamic obstacles…
There are many well-studied swarming algorithms which are often suited to very specific purposes. As mobile sensor networks become increasingly complex, and are comprised of more and more agents, it makes sense to consider swarming…
High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the operating environment is obtained. The requirement of…
Robot swarms are composed of many simple robots that communicate and collaborate to fulfill complex tasks. Robot controllers usually need to be specified by experts on a case-by-case basis via programming code. This process is…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
In search and rescue missions, time is an important factor; fast navigation and quickly acquiring situation awareness might be matters of life and death. Hence, the use of robots in such scenarios has been restricted by the time needed to…