Related papers: Efficient Self-stabilizing Simulations of Energy-R…
Consider a finite set of identical computational entities that can move freely in the Euclidean plane operating in Look-Compute-Move cycles. Let p(t) denote the location of entity p at time t; entity p can see entity q at time t if at that…
Robot perception under low light or high dynamic range is usually improved downstream - via more robust feature extraction, image enhancement, or closed-loop exposure control. However, all of these approaches are limited by the image…
Rigorous testing of autonomous robots, such as self-driving vehicles, is essential to ensure their safety in real-world deployments. This requires building high-fidelity simulators to test scenarios beyond those that can be safely or…
Micromobility, which utilizes lightweight mobile machines moving in urban public spaces, such as delivery robots and mobility scooters, emerges as a promising alternative to vehicular mobility. Current micromobility depends mostly on human…
The Dancing problem requires a swarm of $n$ autonomous mobile robots to form a sequence of patterns, aka perform a choreography. Existing work has proven that some crucial restrictions on choreographies and initial configurations (e.g., on…
Synchronization and desynchronization in networks is a highly studied topic in many electrical systems, but there is a distinct lack of research on this topic with respect to robotics. Creating an effective decentralized synchronization…
Consider a group of autonomous mobile computational entities called robots. The robots move in the Euclidean plane and operate according to synchronous $Look$-$Compute$-$Move$ cycles. The computational capabilities of the robots under the…
We study the rendezvous problem for two robots moving in the plane (or on a line). Robots are autonomous, anonymous, oblivious, and carry colored lights that are visible to both. We consider deterministic distributed algorithms in which…
We investigate gathering algorithms for asynchronous autonomous mobile robots moving in uniform ring-shaped networks. Different from most work using the Look-Compute-Move (LCM) model, we assume that robots have limited visibility and…
With the advancement of modern robotics, autonomous agents are now capable of hosting sophisticated algorithms, which enables them to make intelligent decisions. But developing and testing such algorithms directly in real-world systems is…
Event cameras provide high dynamic range and microsecond-level temporal resolution, making them well-suited for indoor robot navigation, where conventional RGB cameras degrade under fast motion or low-light conditions. Despite advances in…
We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up approach combining offline plan synthesis with online…
We consider the problem of constructing a maximum independent set with mobile myopic luminous robots on a grid network whose size is finite but unknown to the robots. In this setting, the robots enter the grid network one-by-one from a…
An efficient hardware implementation for Simultaneous Localization and Mapping (SLAM) methods is of necessity for mobile autonomous robots with limited computational resources. In this paper, we propose a resource-efficient FPGA…
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…
Sparse and asynchronous sensing and processing in natural organisms lead to ultra low-latency and energy-efficient perception. Event cameras, known as neuromorphic vision sensors, are designed to mimic these characteristics. However, fully…
This paper considers the problem of assigning multiple mobile robots to goals on transport networks with uncertain information about travel times. Our aim is to produce optimal assignments, such that the average waiting time at destinations…
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…
Soft growing robots, commonly referred to as vine robots, have demonstrated remarkable ability to interact safely and robustly with unstructured and dynamic environments. It is therefore natural to exploit contact with the environment for…
Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots…