Related papers: An optimal algorithm for geodesic mutual visibilit…
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…
Given a set of co-located mobile robots in an unknown anonymous graph, the robots must relocate themselves in distinct graph nodes to solve the dispersion problem. In this paper, we consider the dispersion problem for silent robots…
This paper addresses the problem of multi-robot navigation where robots maneuver on a desired \(m\)-dimensional (i.e., \(m\)-D) manifold in the $n$-dimensional Euclidean space, and maintain a {\it flexible spatial ordering}. We consider $…
Unmanned ground vehicles (UGVs) are being used extensively in civilian and military applications for applications such as underground mining, nuclear plant operations, planetary exploration, intelligence, surveillance and reconnaissance…
A time-optimal problem for redundantly actuated robots moving on a specified path is a challenging problem. Although the problem is well explored and there are proposed solutions based on phase plane analysis, there are still several…
Visual observation of objects is essential for many robotic applications, such as object reconstruction and manipulation, navigation, and scene understanding. Machine learning algorithms constitute the state-of-the-art in many fields but…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
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…
The Shortest-Path Problem in Graph of Convex Sets (SPP in GCS) is a recently developed optimization framework that blends discrete and continuous decision making. Many relevant problems in robotics, such as collision-free motion planning,…
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…
Let $G=(V, E)$ be a graph where $V$ and $E$ are the vertex and edge set, respectively. For two disjoint subsets $A$ and $B$, we say $A$ dominates $B$ if every vertex of $B$ is adjacent to at least one vertex of $A$. A vertex partition $\pi…
We study distributed algorithms that find a maximal matching in an anonymous, edge-coloured graph. If the edges are properly coloured with $k$ colours, there is a trivial greedy algorithm that finds a maximal matching in $k-1$ synchronous…
The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
An optimization problem is at the heart of many robotics estimating, planning, and optimum control problems. Several attempts have been made at model-based multi-robot localization, and few have formulated the multi-robot collaborative…
The protection of pathways holds immense significance across various domains, including urban planning, transportation, surveillance, and security. This article introduces a groundbreaking approach to safeguarding pathways by employing…
The \emph{general position problem} in graphs asks for a largest set of vertices in which no three lie on a common shortest path. The \emph{mutual-visibility problem} seeks a largest set of vertices such that every pair is connected by a…
In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…
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…
An underactuated nonholonomic Dubins-vehicle-like robot with a lower-limited turning radius travels with a constant speed in a plane, which hosts unknown complex objects. The robot has to approach and then circumnavigate all objects, with…