Related papers: Gathering in Non-Vertex-Transitive Graphs Under Ro…
The Arbitrary Pattern Formation problem asks to design a distributed algorithm that allows a set of autonomous mobile robots to form any specific but arbitrary geometric pattern given as input. The problem has been extensively studied in…
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.…
In this paper we study the following multi-robot coordination problem: given a graph, where each edge is weighted by the probability of surviving while traversing it, find a set of paths for $K$ robots that maximizes the expected number of…
Dispersion of mobile robots over the nodes of an anonymous graph is an important problem and turns out to be a crucial subroutine for designing efficient algorithms for many fundamental graph problems via mobile robots. In this problem,…
Scatterplots are a common tool for exploring multidimensional datasets, especially in the form of scatterplot matrices (SPLOMs). However, scatterplots suffer from overplotting when categorical variables are mapped to one or two axes, or the…
The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…
We propose a decentralized algorithm to collaboratively transport arbitrarily shaped objects using a swarm of robots. Our approach starts with a task allocation phase that sequentially distributes locations around the object to be…
A common approach for designing scalable algorithms for massive data sets is to distribute the computation across, say $k$, machines and process the data using limited communication between them. A particularly appealing framework here is…
A drawback of the classic approach for complexity analysis of distributed graph problems is that it mostly informs about the complexity of notorious classes of ``worst case'' graphs. Algorithms that are used to prove a tight (existential)…
Two variants of multi-robot search for a stationary object in a priori known environment represented by a graph are studied in the paper. The first one is a generalization of the Traveling Deliveryman Problem where more than one deliveryman…
We study the problem \emph{Gathering} for $n$ autonomous mobile robots in synchronous settings with a persistent memory called \emph{light}. It is well known that Gathering is impossible in the basic model ($OBLOT$) where robots have no…
We study the Universal Solvability of Robot Motion Planning on Graphs (USolR) problem: given an undirected graph $G = (V, E)$ and $p$ robots, determine whether any arbitrary configuration of the robots can be transformed into any other…
An autonomous mobile robot system is a distributed system consisting of mobile computational entities (called robots) that autonomously and repeatedly perform three operations: Look, Compute, and Move. Various problems related to autonomous…
We introduce a class of budgeted prize-collecting covering subgraph problems. For an input graph with prizes on the vertices and costs on the edges, the aim of these problems is to find a connected subgraph such that the cost of its edges…
Given an undirected, anonymous, port-labeled graph of $n$ memory-less nodes, $m$ edges, and degree $\Delta$, we consider the problem of dispersing $k\leq n$ robots (or tokens) positioned initially arbitrarily on one or more nodes of the…
Graph coloring is a fundamental problem in combinatorics with many applications in practice. In this problem, the vertices in a given graph must be colored by using the least number of colors in such a way that a vertex has a different…
In this work, we present a novel distributed method for constructing an occupancy grid map of an unknown environment using a swarm of robots with global localization capabilities and limited inter-robot communication. The robots explore the…
A unit ball graph consists of a set of vertices, labeled by points in Euclidean space, and edges joining all pairs of points within distance 1. These geometric graphs are used to model a variety of spatial networks, including communication…
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…
Environment perception is a crucial ability for robot's interaction into an environment. One of the first steps in this direction is the combined problem of simultaneous localization and mapping (SLAM). A new method, called G-SLAM, is…