Related papers: Circle Formation by Asynchronous Opaque Fat Robots…
We study verification problems for autonomous swarms of mobile robots that self-organize and cooperate to solve global objectives. In particular, we focus in this paper on the model proposed by Suzuki and Yamashita of anonymous robots…
This paper studies infinite graphs produced from a natural unfolding operation applied to finite graphs. Graphs produced via such operations are of finite degree and automatic over the unary alphabet (that is, they can be described by…
Building structures by low capability robots is a very recent research development. A robot (or a mobile agent) is designed as a deterministic finite automaton. The objective is to make a structure from a given distribution of materials…
The line coverage problem involves finding efficient routes for the coverage of linear features by one or more resource-constrained robots. Linear features model environments like road networks, power lines, and oil and gas pipelines. Two…
We consider a set of k autonomous robots that are endowed with visibility sensors (but that are otherwise unable to communicate) and motion actuators. Those robots must collaborate to reach a sin- gle vertex that is unknown beforehand, and…
The ability to automatically encircle boundaries with mobile robots is crucial for tasks such as border tracking and object enclosing. Previous research has primarily focused on regular boundaries, often assuming that their geometric…
This study presents a systematic enumeration of spherical ($SO(3)$) type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point,…
Fatgraphs are multigraphs enriched with a cyclic order of the edges incident to a vertex. This paper presents algorithms to: (1) generate the set of all fatgraphs having a given genus and number of boundary cycles; (2) compute automorphisms…
Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of…
We consider groups of orientation-preserving real analytic diffeomorphisms of the circle which have a finite image under the rotation number function. We show that if such a group is nondiscrete with respect to the $C^1$-topology then it…
The monography considers the problem of constructing a Hamiltonian cycle in a complete graph. A rule for constructing a Hamiltonian cycle based on isometric cycles of a graph is established. An algorithm for constructing a Hamiltonian cycle…
A number of recent papers have studied when symmetry causes frameworks on a graph to become infinitesimally flexible, or stressed, and when it has no impact. A number of other recent papers have studied special classes of frameworks on…
Robot design aims at learning to create robots that can be easily controlled and perform tasks efficiently. Previous works on robot design have proven its ability to generate robots for various tasks. However, these works searched the…
We propose a learning-based Control Barrier Function (CBF) to reduce conservatism in collision avoidance for car-like robots. Traditional CBFs often use the Euclidean distance between robots' centers as a safety margin, which neglects their…
We present an effective algorithm for detecting automorphic orbits in free groups, as well as a number of algorithmic improvements of train tracks for free group automorphisms.
We investigate the problem of optimally assigning a large number of robots (or other types of autonomous agents) to guard the perimeters of closed 2D regions, where the perimeter of each region to be guarded may contain multiple disjoint…
We propose a new probabilistic pattern formation algorithm for oblivious mobile robots that operates inthe ASYNC model. Unlike previous work, our algorithm makes no assumptions about the local coordinatesystems of robots (the robots do not…
In this paper, we study the multi-robot task allocation problem where a group of robots needs to be allocated to a set of tasks so that the tasks can be finished optimally. One task may need more than one robot to finish it. Therefore the…
We consider geometric collision-detection problems for modular reconfigurable robots. Assuming the nodes (modules) are connected squares on a grid, we investigate the complexity of deciding whether collisions may occur, or can be avoided,…
A graph environment must be explored by a collection of mobile robots. Some of the robots, a priori unknown, may turn out to be unreliable. The graph is weighted and each node is assigned a deadline. The exploration is successful if each…