Related papers: Grouped Stirling complexes
Let $G$ be a graph. Assume that to each vertex of a set of vertices $S\subseteq V(G)$ a robot is assigned. At each stage one robot can move to a neighbouring vertex. Then $S$ is a mobile general position set of $G$ if there exists a…
Robots with very limited capabilities are placed on the vertices of a graph and are required to move toward a single, common vertex, where they remain stationary once they arrive. This task is referred to as the GATHERING problem. Most of…
A multiple group rack is a rack which is a disjoint union of groups equipped with a binary operation satisfying some conditions. It is used to define invariants of spatial surfaces, i.e., oriented compact surfaces with boundaries embedded…
This expository article describes applications of topological configuration spaces to the control of robotic systems. In particular, we review recent work by the authors on configuration spaces of graphs. These are lovely spaces: we show…
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…
This paper studies the problem of controlling a multi-robot system to achieve a polygon formation in a self-organized manner. Different from the typical formation control strategies where robots are steered to satisfy the predefined control…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
We consider the following variant of the two dimensional gathering problem for swarms of robots: Given a swarm of $n$ indistinguishable, point shaped robots on a two dimensional grid. Initially, the robots form a closed chain on the grid…
A subset $D \subseteq V$ is a dominating set of a graph $G$ with vertex set $V$ if every vertex $v \in V \setminus D$ is adjacent to a vertex in $D$. Two subsets of $V$ form a coalition if neither of them is a dominating set, but their…
If $G$ is a graph with vertex set $V$, let Conf$_n^{\text{sink}}(G,V)$ be the space of $n$-tuples of points on $G$, which are only allowed to overlap on elements of $V$. We think of Conf$_n^{\text{sink}}(G,V)$ as a configuration space of…
In the field of swarm robotics, one of the most studied problem is Gathering. It asks for a distributed algorithm that brings the robots to a common location, not known in advance. We consider the case of robots constrained to move along…
We consider the space of all configurations of finitely many (potentially nested) circles in the plane. We prove that this space is aspherical, and compute the fundamental group of each of its connected components. It turns out these…
We introduce the use of hierarchical clustering for relaxed, deterministic coordination and control of multiple robots. Traditionally an unsupervised learning method, hierarchical clustering offers a formalism for identifying and…
Contact can be conceptualized as a set of constraints imposed on two bodies that are interacting with one another in some way. The nature of a contact, whether a point, line, or surface, dictates how these bodies are able to move with…
Let G be a graph. The (unlabeled) configuration space of n points on G is the space of all n-element subsets of G. The fundamental group of such a configuration space is called a graph braid group. We use a version of discrete Morse theory…
The Gathering problem for a swarm of robots asks for a distributed algorithm that brings such entities to a common place, not known in advance. We consider the well-known OBLOT model with robots constrained to move along the edges of a…
A set $S\subseteq V$ in an isolate-free graph $G$ is a total restrained dominating set, abbreviated TRD-set, if every vertex in $V$ is adjacent to a vertex in $S$, and every vertex in $V\setminus S$ is adjacent to a vertex in $V\setminus…
We investigate the configuration space $\mathcal{S}_{G,b,\ell}$ associated with the movement of a robotic arm of length $\ell$ on a grid over an underlying graph $G$, anchored at a vertex $b \in G$. We study an associated PIP (poset with…
How do we move a robot efficiently from one position to another? To answer this question, we need to understand its configuration space, a 'map' where we can find every possible position of the robot. Unfortunately, these maps are very…
A metamorphic robotic system is an aggregate of homogeneous robot units which can individually and selectively locomote in such a way as to change the global shape of the system. We introduce a mathematical framework for defining and…