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This paper investigates the task assignment problem for multiple dispersed robots constrained by limited communication range. The robots are initially randomly distributed and need to visit several target locations while minimizing the…
Using mobile robots for autonomous patrolling of environments to prevent intrusions is a topic of increasing practical relevance. One of the most challenging scientific issues is the problem of finding effective patrolling strategies that,…
For a set of robots (or agents) moving in a graph, two properties are highly desirable: confidentiality (i.e., a message between two agents must not pass through any intermediate agent) and efficiency (i.e., messages are delivered through…
Considering an environment containing polygonal obstacles, we address the problem of planning motions for a pair of planar robots connected to one another via a cable of limited length. Much like prior problems with a single robot connected…
In this paper, we revisit the problem of classical \textit{meeting times} of random walks in graphs. In the process that two tokens (called agents) perform random walks on an undirected graph, the meeting times are defined as the expected…
Random walks on graphs are an essential primitive for many randomised algorithms and stochastic processes. It is natural to ask how much can be gained by running $k$ multiple random walks independently and in parallel. Although the cover…
We consider the mobile robot dispersion problem in the presence of faulty robots (crash-fault). Mobile robot dispersion consists of $k\leq n$ robots in an $n$-node anonymous graph. The goal is to ensure that regardless of the initial…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
We consider n robots with limited visibility: each robot can observe other robots only up to a constant distance denoted as the viewing range. The robots operate in discrete rounds that are either fully synchronous (FSync) or…
The pebble-motion on graphs is a subcategory of multi-agent pathfinding problems dealing with moving multiple pebble-like objects from a node to a node in a graph with a constraint that only one pebble can occupy one node at a given time.…
We introduce and study a new problem concerning the exploration of a geometric domain by mobile robots. Consider a line segment $[0,I]$ and a set of $n$ mobile robots $r_1,r_2,..., r_n$ placed at one of its endpoints. Each robot has a {\em…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
In densely-packed robot swarms operating in confined regions, spatial interference -- which manifests itself as a competition for physical space -- forces robots to spend more time navigating around each other rather than performing the…
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…
Given a set R of robots, each one located at different vertices of an infinite regular tessellation graph, we aim to explore the Arbitrary Pattern Formation (APF) problem. Given a multiset F of grid vertices such that |R|=|F|, APF asks for…
This paper is concerned with problems relevant to motion planning in robotics. Configuration spaces are of practical relevance in designing safe control schemes for robots moving on a track. The topological complexity of a configuration…
This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered: one where every robot or object needs to reach a…
The introduction and study of dispersing mobile robots across the nodes of an anonymous graph have recently gained traction and have been explored within various graph classes and settings. While optimal dispersion solution was established…
Multi-robot motion planning is a hard problem. We investigate restricted variants of the problem where square robots are allowed to slide over an arbitrary curve to a new position only a constant number of times each. We show that the…
A set of mobile robots is placed at points of an infinite line. The robots are equipped with GPS devices and they may communicate their positions on the line to a central authority. The collection contains an unknown subset of "spies",…