Related papers: Min-Sum Uniform Coverage Problem by Autonomous Mob…
Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is…
Anonymous mobile robots are often classified into synchronous, semi-synchronous and asynchronous robots when discussing the pattern formation problem. For semi-synchronous robots, all patterns formable with memory are also formable without…
In this paper we consider the coverage control problem for a team of wire-traversing robots. The two-dimensional motion of robots moving in a planar environment has to be projected to one-dimensional manifolds representing the wires.…
Let $W \subset \mathbb{R}^2$ be a planar polygonal environment with $n$ vertices, and let $[k] = \{1,\ldots,k\}$ denote $k$ unit-square robots translating in $W$. Given source and target placements $s_1, t_1, \ldots, s_k, t_k \in W$ for…
Swarm robotics utilises decentralised self-organising systems to form complex collective behaviours built from the bottom-up using individuals that have limited capabilities. Previous work has shown that simple occlusion-based strategies…
Given a line barrier and a set of mobile sensors distributed in the plane, the Minimizing Maximum Sensor Movement problem (MMSM) for \textcolor{black}{line barrier coverage} is to compute relocation positions for the sensors in the plane…
It is always a challenging task to service sudden events in non-convex and uncertain environments, and multi-agent coverage control provides a powerful theoretical framework to investigate the deployment problem of mobile robotic networks…
This paper considers trajectory planning for a mobile robot which persistently relays data between pairs of far-away communication nodes. Data accumulates stochastically at each source, and the robot must move to appropriate positions to…
We present a decentralized control algorithm for a minimalist robotic swarm lacking memory, explicit communication, or relative position information, to encapsulate multiple diffusive target sources in a bounded environment. The…
This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…
We consider a team of $k$ identical, oblivious, asynchronous mobile robots that are able to sense (\emph{i.e.}, view) their environment, yet are unable to communicate, and evolve on a constrained path. Previous results in this weak scenario…
The Dancing problem requires a swarm of $n$ autonomous mobile robots to form a sequence of patterns, aka perform a choreography. Existing work has proven that some crucial restrictions on choreographies and initial configurations (e.g., on…
This paper presents an algorithm for a team of mobile robots to simultaneously learn a spatial field over a domain and spatially distribute themselves to optimally cover it. Drawing from previous approaches that estimate the spatial field…
This paper introduces a multirobot cooperation approach to solve the "pursuit evasion" problem for mobile robots that have omnidirectional vision sensors. The main characteristic of this approach is to implement a real cooperation between…
In this paper we address the complexity issues of two agreement problems in oblivious robot networks namely gathering and scattering. These abstractions are fundamental coordination problems in cooperative mobile robotics. Moreover, their…
This paper addresses the mutual visibility problem for a set of semi-synchronous, opaque robots occupying distinct positions in the Euclidean plane. Since robots are opaque, if three robots lie on a line, the middle robot obstructs the…
Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…
We consider the problem of organizing a scattered group of $n$ robots in two-dimensional space, with geometric maximum distance $D$ between robots. The communication graph of the swarm is connected, but there is no central authority for…
Continuous surveillance of a spatial region using distributed robots and sensors is a well-studied application in the area of multi-agent systems. This paper investigates a practically-relevant scenario where robotic sensors are introduced…
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,…