Related papers: Location-Aware Dispersion on Anonymous Graphs
We consider the problem of dominating set-based virtual backbone used for routing in asymmetric wireless ad-hoc networks. These networks have non-uniform transmission ranges and are modeled using the well-established disk graphs. The…
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…
In this paper we study multi robot cooperative task allocation issue in a situation where a swarm of robots is deployed in a confined unknown environment where the number of colored spots which represent tasks and the ratios of them are…
Mapping and self-localization in unknown environments are fundamental capabilities in many robotic applications. These tasks typically involve the identification of objects as unique features or landmarks, which requires the objects both to…
Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…
The gathering problem requires a set of mobile agents, arbitrarily positioned at different nodes of a network to group within finite time at the same location, not fixed in advanced. The extensive existing literature on this problem shares…
In this paper, a cooperative localization algorithm is proposed that considers the existence of obstacles in mobilityassisted wireless sensor networks (WSNs). In this scheme, a mobile anchor (MA) node cooperates with static sensor nodes and…
Collective intelligence and autonomy of robot swarms can be improved by enabling the individual robots to become aware they are the constituent units of a larger whole and what is their role. In this study, we present an algorithm to enable…
In this paper, we develop a \textit{distributed} algorithm to localize an arbitrary number of agents moving in a bounded region of interest. We assume that the network contains \textit{at least one} agent with known location (hereinafter…
We initiate the study of deterministic distributed graph algorithms with predictions in synchronous message passing systems. The process at each node in the graph is given a prediction, which is some extra information about the problem…
The Backup Placement problem in networks in the $\mathcal{CONGEST}$ distributed setting considers a network graph $G = (V,E)$, in which the goal of each vertex $v \in V$ is selecting a neighbor, such that the maximum number of vertices in…
Information dissemination is a fundamental problem in parallel and distributed computing. In its simplest variant, the broadcasting problem, a message has to be spread among all nodes of a graph. A prominent communication protocol for this…
In the distributed backup-placement problem each node of a network has to select one neighbor, such that the maximum number of nodes that make the same selection is minimized. This is a natural relaxation of the perfect matching problem, in…
We consider the problem of sensor localization in a wireless network in a multipath environment, where time and angle of arrival information are available at each sensor. We propose a distributed algorithm based on belief propagation, which…
In this paper, we consider a general distributed estimation problem in relay-assisted sensor networks by taking into account time-varying asymmetric communications, fading channels and intermittent measurements. Motivated by centralized…
Leader election is one of the fundamental and well-studied problems in distributed computing. In this paper, we initiate the study of leader election using mobile agents. Suppose $n$ agents are positioned initially arbitrarily on the nodes…
Learning abstractions directly from data is a core challenge in robotics. Humans naturally operate at an abstract level, reasoning over high-level subgoals while delegating execution to low-level motor skills -- an ability that enables…
The locality of a graph problem is the smallest distance $T$ such that each node can choose its own part of the solution based on its radius-$T$ neighborhood. In many settings, a graph problem can be solved efficiently with a distributed or…
We propose two novel algorithms for distributed and location-free boundary recognition in wireless sensor networks. Both approaches enable a node to decide autonomously whether it is a boundary node, based solely on connectivity information…
This paper presents a novel dynamic coverage control algorithm allowing a group of robots to track an optimal-deployment configuration for arbitrary time-varying density functions. Building on singular perturbation theory, the proposed…