Related papers: Gathering in Vertex- and Edge-Transitive Graphs wi…
We consider cooperation among insects, modeled as cooperation between mobile robots on a graph. Within this setting, we consider the problem of mobile robot dispersion on graphs. The study of mobile robots on a graph is an interesting…
The problem of finding a path between two points while avoiding obstacles is critical in robotic path planning. We focus on the feasibility problem: determining whether such a path exists. We model the robot as a query-specific rectangular…
In this paper, we study the problem of gathering distance-1 myopic robots on an infinite triangular grid. We show that the algorithm developed by Goswami et al. (SSS, 2022) is lattice-linear (cf. Gupta and Kulkarni, SRDS 2023). This implies…
Despite the attention that the problem of path planning for tethered robots has garnered in the past few decades, the approaches proposed to solve it typically rely on a discrete representation of the configuration space and do not exploit…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems involve multiple, similar-geometry objects placed on a flat, horizontal surface,…
We consider a team of heterogeneous robots which are deployed within a common workspace to gather different types of data. The robots have different roles due to different capabilities: some gather data from the workspace (source robots)…
We study an elementary problem of the topological robotics: collective motion of a set of $n$ distinct particles which one has to move from an initial configuration to a final configuration, with the requirement that no collisions occur in…
Consider robot swarm wireless networks where mobile robots offload their computing tasks to a computing server located at the mobile edge. Our aim is to maximize the swarm lifetime through efficient exploitation of the correlation between…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
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…
This paper shows how Graph Neural Networks can be used for learning distributed coordination mechanisms in connected teams of robots. We capture the relational aspect of robot coordination by modeling the robot team as a graph, where each…
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…
An effective way to reduce clutter in a graph drawing that has (many) crossings is to group edges that travel in parallel into \emph{bundles}. Each edge can participate in many such bundles. Any crossing in this bundled graph occurs between…
We characterize the advantage of using a robot's neighborhood to find and eliminate adversarial robots in the presence of a Sybil attack. We show that by leveraging the opinions of its neighbors on the trustworthiness of transmitted data,…
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…
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…
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…
We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…
Recent empirical observations of three-dimensional bird flocks and human crowds have challenged the long-prevailing assumption that a metric interaction distance rules swarming behaviors. In some cases, individual agents are found to be…