Related papers: Universal Pattern Formation by Oblivious Robots Un…
The optimal robot assembly planning problem is challenging due to the necessity of finding the optimal solution amongst an exponentially vast number of possible plans, all while satisfying a selection of constraints. Traditionally, robotic…
We investigate the algorithmic problem of uniformly dispersing a swarm of robots in an unknown, gridlike environment. In this setting, our goal is to study the relationships between performance metrics and robot capabilities. We introduce a…
Implementing obstacle avoidance in dynamic environments is a challenging problem for robots. Model predictive control (MPC) is a popular strategy for dealing with this type of problem, and recent work mainly uses control barrier function…
We present a deep reinforcement learning-based framework for automatically discovering patterns available in any given initial configuration of fat robot swarms. In particular, we model the problem of collision-less gathering and mutual…
We investigate the problem of assembling general shapes and patterns in a model in which particles move based on uniform external forces until they encounter an obstacle. While previous work within this model of assembly has focused on…
We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…
We study the problem of coordinating multiple robots along fixed geometric paths. Our contribution is threefold. First we formalize the intuitive concept of priorities as a binary relation induced by a feasible coordination solution,…
This work addresses the gathering problem for a set of autonomous, anonymous, and homogeneous robots with limited visibility operating in a continuous circle. The robots are initially placed at distinct positions, forming a rotationally…
In this work, we initiate the research about the Gathering problem for robots with limited viewing range in the three-dimensional Euclidean space. In the Gathering problem, a set of initially scattered robots is required to gather at the…
Planning for multi-robot coverage seeks to determine collision-free paths for a fleet of robots, enabling them to collectively observe points of interest in an environment. Persistent coverage is a variant of traditional coverage where…
Higher-order unification has been shown to be undecidable. Miller discovered the pattern fragment and subsequently showed that higher-order pattern unification is decidable and has most general unifiers. We extend the algorithm to…
In this paper we study the global scheduling of periodic task systems upon multiprocessor platforms. We first show two very general properties which are well-known for uniprocessor platforms and which remain for multiprocessor platforms:…
Consider a system of autonomous mobile robots initially randomly deployed on the nodes of an anonymous finite grid. A gathering algorithm is a sequence of moves to be executed independently by each robot so that all robots meet at a single…
Robots are becoming an increasingly common part of scientific work within laboratory environments. In this paper, we investigate the problem of designing \emph{schedules} for completing a set of tasks at fixed locations with multiple robots…
We propose a method for the collective maneuvering of affine formations in the plane by modifying the original weights of the Laplacian matrix used to achieve static formations of robot swarms. Specifically, the resulting collective motion…
The motion planning problem is a fundamental problem in robotics, so that every autonomous robot should be able to deal with it. A number of solutions have been proposed and a probabilistic one seems to be quite reasonable. However, here we…
In swarm robotics, a set of robots has to perform a given task with specified internal capabilities (model) and under a given adversarial scheduler. Relation between a model $M_1$ under scheduler $S_1$, and that of a model $M_2$ under…
We study the \textit{min-sum uniform coverage} problem for a swarm of $n$ mobile robots on a given finite line segment and on a circle having finite positive radius, where the circle is given as an input. The robots must coordinate their…
We consider the problem of generating motion plans for a robot that are guaranteed to succeed despite uncertainty in the environment, parametric model uncertainty, and disturbances. Furthermore, we consider scenarios where these plans must…
We investigate autonomous mobile robots in the Euclidean plane. A robot has a function called target function to decide the destination from the robots' positions. Robots may have different target functions. If the robots whose target…