Related papers: Space and Move-optimal Arbitrary Pattern Formation…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
We consider the following variant of the two dimensional gathering problem for swarms of robots: Given a swarm of $n$ indistinguishable, point shaped robots on a two dimensional grid. Initially, the robots form a closed chain on the grid…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
Accurate and interpretable motion planning is essential for autonomous vehicles (AVs) navigating complex and uncertain environments. While recent end-to-end occupancy prediction methods have improved environmental understanding, they…
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…
In this paper we propose and prove correct a new self-stabilizing velocity agreement (flocking) algorithm for oblivious and asynchronous robot networks. Our algorithm allows a flock of uniform robots to follow a flock head emergent during…
Formation flight has a vast potential for aerial robot swarms in various applications. However, existing methods lack the capability to achieve fully autonomous large-scale formation flight in dense environments. To bridge the gap, we…
Accurate localization is a critical requirement for most robotic tasks. The main body of existing work is focused on passive localization in which the motions of the robot are assumed given, abstracting from their influence on sampling…
Motion planning is a fundamental problem in autonomous robotics that requires finding a path to a specified goal that avoids obstacles and takes into account a robot's limitations and constraints. It is often desirable for this path to also…
Gathering is a fundamental coordination problem in swarm robotics, where the objective is to bring robots together at a point not known to them at the beginning. While most research focuses on continuous domains, some studies also examine…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
We study a generalized motion planning problem involving multiple autonomous robots navigating in a $d$-dimensional Euclidean space in the presence of a set of obstacles whose positions are unknown a priori. Each robot is required to visit…
We study computationally-hard fundamental motion planning problems where the goal is to translate $k$ axis-aligned rectangular robots from their initial positions to their final positions without collision, and with the minimum number of…
This paper studies the gathering problem for a set of $N \ge 2$ autonomous mobile robots operating in the Euclidean plane under the distributed Look-Compute-Move model. We consider oblivious robots executing under the adversarial defected…
Consider a set of $n$ simple autonomous mobile robots (asynchronous, no common coordinate system, no identities, no central coordination, no direct communication, no memory of the past, non-rigid, deterministic) initially in distinct…
As autonomous robots increasingly become part of daily life, they will often encounter dynamic environments while only having limited information about their surroundings. Unfortunately, due to the possible presence of malicious dynamic…
Cooperative transport is a striking phenomenon where multiple agents join forces to transit a payload too heavy for the individual. While social animals such as ants are routinely observed to coordinate transport at scale, reproducing the…
The Gathering problem for a swarm of robots asks for a distributed algorithm that brings such entities to a common place, not known in advance. We consider the well-known OBLOT model with robots constrained to move along the edges of a…
Object rearrangement is a widely-applicable and challenging task for robots. Geometric constraints must be carefully examined to avoid collisions and combinatorial issues arise as the number of objects increases. This work studies the…
Robot person following (RPF) is a core capability in human-robot interaction, enabling robots to assist users in daily activities, collaborative work, and other service scenarios. However, achieving practical RPF remains challenging due to…