Related papers: Universal Dancing by Luminous Robots under Sequent…
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…
Although existing 3D dance generation methods perform well in controlled scenarios, they often struggle to generalize in the wild. When conditioned on unseen music, existing methods often produce unstructured or physically implausible…
In this paper, we study the circle formation problem by multiple autonomous and homogeneous disc-shaped robots (also known as fat robots). The goal of the robots is to place themselves on the periphery of a circle. Circle formation has many…
What we appreciate in dance is the ability of people to sponta- neously improvise new movements and choreographies, sur- rendering to the music rhythm, being inspired by the cur- rent perceptions and sensations and by previous experiences,…
Choreographic Programming is a development methodology for concurrent software that guarantees correctness by construction. The key to this paradigm is to disallow mismatched I/O operations in programs, called choreographies, and then…
In this work, we study the problem of dispersion of mobile robots on dynamic rings. The problem of dispersion of $n$ robots on an $n$ node graph, introduced by Augustine and Moses Jr. [1], requires robots to coordinate with each other and…
Group dance generation from music requires synchronizing multiple dancers while maintaining spatial coordination, making it highly relevant to applications such as film production, gaming, and animation. Recent group dance generation models…
In this paper, we consider the problem of formation of a series of geometric patterns [4] by a network of oblivious mobile robots that communicate only through vision. So far, the problem has been studied in models where robots are either…
The gathering over meeting nodes problem requires the robots to gather at one of the pre-defined meeting nodes. This paper investigates the problem with respect to the objective function that minimizes the total number of moves made by all…
The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…
We present a number of breakthroughs for coordinated motion planning, in which the objective is to reconfigure a swarm of labeled convex objects by a combination of parallel, continuous, collision-free translations into a given target…
To accomplish task efficiently in a multiple robots system, a problem that has to be addressed is Simultaneous Localization and Mapping (SLAM). LiDAR (Light Detection and Ranging) has been used for many SLAM solutions due to its superb…
We consider the problem of scattering $n$ robots in a two dimensional continuous space. As this problem is impossible to solve in a deterministic manner, all solutions must be probabilistic. We investigate the amount of randomness (that is,…
Sampling-based planning methods often become inefficient due to narrow passages. Narrow passages induce a higher runtime, because the chance to sample them becomes vanishingly small. In recent work, we showed that narrow passages can be…
The task of music-driven dance generation involves creating coherent dance movements that correspond to the given music. While existing methods can produce physically plausible dances, they often struggle to generalize to out-of-set data.…
Multiple object tracking in complex scenarios - such as coordinated dance performances, team sports, or dynamic animal groups - presents unique challenges. In these settings, objects frequently move in coordinated patterns, occlude each…
A fundamental problem in Distributed Computing is the Pattern Formation problem, where some independent mobile entities, called robots, have to rearrange themselves in such a way as to form a given figure from every possible…
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…
We develop a systematic approach for proving the existence of choreographic solutions in the gravitational $n$ body problem. Our main focus is on spatial torus knots: that is, periodic motions where the positions of all $n$ bodies follow a…
We present algorithms for length-constrained maximum sum segment and maximum density segment problems, in particular, and the problem of finding length-constrained heaviest segments, in general, for a sequence of real numbers. Given a…