Related papers: Min-Sum Uniform Coverage Problem by Autonomous Mob…
We study a multi-robot assignment problem for multi-target tracking. The proposed problem can be viewed as the mixed packing and covering problem. To deal with a limitation on both sensing and communication ranges, a distributed approach is…
This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large…
This paper considers the problem of distributed state estimation using multi-robot systems. The robots have limited communication capabilities and, therefore, communicate their measurements intermittently only when they are physically close…
Collective decision-making is an essential capability of large-scale multi-robot systems to establish autonomy on the swarm level. A large portion of literature on collective decision-making in swarm robotics focuses on discrete decisions…
The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…
Consider a group of autonomous mobile computational entities called robots. The robots move in the Euclidean plane and operate according to synchronous $Look$-$Compute$-$Move$ cycles. The computational capabilities of the robots under the…
We consider the gathering problem for asynchronous and oblivious robots that cannot communicate explicitly with each other, but are endowed with visibility sensors that allow them to see the positions of the other robots. Most of the…
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…
This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing/communication radius. Based on the…
Gathering mobile robots is a widely studied problem in robotic research. This survey first introduces the related work, summarizing models and results. Then, the focus shifts on the open problem of gathering fat robots. In this context,…
The graph exploration problem requires a group of mobile robots, initially placed arbitrarily on the nodes of a graph, to work collaboratively to explore the graph such that each node is eventually visited by at least one robot. One…
Multirobot systems for covering environments are increasingly used in applications like cleaning, industrial inspection, patrolling, and precision agriculture. The problem of covering a given environment using multiple robots can be…
To accomplish task efficiently in a multiple robots system, a problem that has to be addressed is Simultaneous Localization and Mapping (SLAM). LiDAR (Light Detection and Ranging) has been used for many SLAM solutions due to its superb…
Swarm robot systems, which consist of many cooperating mobile robots, have attracted attention for their environmental adaptability and fault tolerance advantages. One of the most important tasks for such systems is coverage control, in…
This work focuses on the following question related to the Gathering problem of $n$ autonomous, mobile robots in the Euclidean plane: Is it possible to solve Gathering of robots that do not agree on any axis of their coordinate systems…
In the existing literature of the Mutual Visibility problem for autonomous robot swarms, the adopted visibility models have some idealistic assumptions that are not consistent with practical sensing device implementations. This paper…
This paper deals with random sensors initially randomly deployed on the line according to general random process and on the plane according to two independent general random processes. The mobile robot with carrying capacity $k$ placed at…
This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
Collective perception is a foundational problem in swarm robotics, in which the swarm must reach consensus on a coherent representation of the environment. An important variant of collective perception casts it as a best-of-$n$…