Related papers: Optimizing Robot Dispersion on Grids: with and wit…
We consider the distributed optimization problem for the sum of convex functions where the underlying communications network connecting agents at each time is drawn at random from a collection of directed graphs. Building on an earlier work…
We propose distributed algorithms to automatically deploy a team of mobile robots to partition and provide coverage of a non-convex environment. To handle arbitrary non-convex environments, we represent them as graphs. Our partitioning and…
We propose a new model for formalizing reward collection problems on graphs with dynamically generated rewards which may appear and disappear based on a stochastic model. The *robot routing problem* is modeled as a graph whose nodes are…
This paper proposes a framework for improving the operational efficiency of automated storage systems under uncertainty. It considers a 2D grid-based storage for uniform-sized loads (e.g., containers, pallets, or totes), which are moved by…
This work focuses on the following question related to the Gathering problem of $n$ autonomous, mobile robots in the Euclidean plane: Is it possible to solve Gathering of robots that do not agree on any axis of their coordinate systems…
This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…
In the field of swarm robotics, one of the most studied problem is Gathering. It asks for a distributed algorithm that brings the robots to a common location, not known in advance. We consider the case of robots constrained to move along…
The field of dynamic graph algorithms aims at achieving a thorough understanding of real-world networks whose topology evolves with time. Traditionally, the focus has been on the classic sequential, centralized setting where the main…
Distributionally robust optimization (DRO) is a widely-used approach to learn models that are robust against distribution shift. Compared with the standard optimization setting, the objective function in DRO is more difficult to optimize,…
A key challenge in robotics is the efficient generation of optimal robot motion with safety guarantees in cluttered environments. Recently, deterministic optimal sampling-based motion planners have been shown to achieve good performance…
We consider a team of {\em autonomous weak robots} that are endowed with visibility sensors and motion actuators. Autonomous means that the team cannot rely on any kind of central coordination mechanism or scheduler. By weak we mean that…
Although the field of distributed optimization is well-developed, relevant literature focused on the application of distributed optimization to multi-robot problems is limited. This survey constitutes the second part of a two-part series on…
We consider the dispersion problem for mobile agents. Initially, k agents are located at arbitrary nodes in an undirected graph. Agents can migrate from node to node via an edge in the graph synchronously. Our goal is to let the k agents be…
This paper discusses distributed optimization over a directed graph. We begin with some well known algorithms which achieve consensus among agents including FROST [1], which possesses the quickest convergence to the optimum. It is a well…
Distributed optimization provides a framework for deriving distributed algorithms for a variety of multi-robot problems. This tutorial constitutes the first part of a two-part series on distributed optimization applied to multi-robot…
Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The…
The development of smart grids has effectively transformed the traditional grid system. This promises numerous advantages for economic values and autonomous control of energy sources. In smart grids development, there are various objectives…
This work deals with the problem of gathering $n$ oblivious mobile entities, called robots, at a point (not known beforehand) placed on an infinite triangular grid. The robots are considered to be myopic, i.e., robots have limited…
We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient…
We consider a swarm of $n$ robots in \mathbb{R}^d. The robots are oblivious, disoriented (no common coordinate system/compass), and have limited visibility (observe other robots up to a constant distance). The basic formation task gathering…