Related papers: A Visitation Grid for Complete Coverage Foraging i…
We propose a self-contained, resilient and fully distributed solution for locating the maximum of an unknown scalar field using a swarm of robots that travel at a constant speed. Unlike conventional reactive methods relying on gradient…
We present an approach to the distributed storage of data across a swarm of mobile robots that forms a shared global memory. We assume that external storage infrastructure is absent, and that each robot is capable of devoting a quota of…
In this work, we analyze \textit{stochastic coverage schemes} (SCS) for robotic swarms in which the robots randomly attach to a one-dimensional boundary of interest using local communication and sensing, without relying on global position…
In densely-packed robot swarms operating in confined regions, spatial interference -- which manifests itself as a competition for physical space -- forces robots to spend more time navigating around each other rather than performing the…
We present a biologically inspired design for swarm foraging based on ant's pheromone deployment, where the swarm is assumed to have very restricted capabilities. The robots do not require global or relative position measurements and the…
The hunter and gatherer approach copes with the problem of dynamic multi-robot task allocation, where tasks are unknowingly distributed over an environment. This approach employs two complementary teams of agents: one agile in exploring…
Autonomous drone swarms deployed for surveillance, environmental monitoring, and infrastructure inspection must maintain reliable coverage of critical assets despite robot failures. This requires multicoverage: each asset must be observed…
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…
In robotics, data acquisition often plays a key part in unknown environment exploration. For example, storing information about the topography of the explored terrain or the natural dangers in the environment can inform the decision-making…
When individual robots have limited sensing capabilities or insufficient fault tolerance, it becomes necessary for multiple robots to form teams during exploration, thereby increasing the collective observation range and reliability.…
To accomplish complex swarm robotic missions in the real world, one needs to plan and execute a combination of single robot behaviors, group primitives such as task allocation, path planning, and formation control, and mission-specific…
In this paper, we propose a method that, given a partial grid map of an indoor environment built by an autonomous mobile robot, estimates the amount of the explored area represented in the map, as well as whether the uncovered part is still…
This research paper addresses the challenges of exploration and navigation in unknown environments from an evolutionary swarm robotics perspective. Path formation plays a crucial role in enabling cooperative swarm robots to accomplish these…
We investigate the algorithmic problem of uniformly dispersing a swarm of robots in an unknown, gridlike environment. In this setting, our goal is to study the relationships between performance metrics and robot capabilities. We introduce a…
In this paper, we study the problem of coverage planning by a mobile robot with a limited energy budget. The objective of the robot is to cover every point in the environment while minimizing the traveled path length. The environment is…
A group of cooperative aerial robots can be deployed to efficiently patrol a terrain, in which each robot flies around an assigned area and shares information with the neighbors periodically in order to protect or supervise it. To ensure…
In collective systems, the available agents are a limited resource that must be allocated among tasks to maximize collective performance. Computing the optimal allocation of several agents to numerous tasks through a brute-force approach…
Robotic-based compact storage and retrieval systems provide high-density storage in distribution center and warehouse applications. In the system, items are stored in bins, and the bins are organized inside a three-dimensional grid. Robots…
We present a decentralized and scalable approach for deployment of a robot swarm. Our approach tackles scenarios in which the swarm must reach multiple spatially distributed targets, and enforce the constraint that the robot network cannot…
Rendezvous aims at gathering all robots at a specific location, which is an important collaborative behavior for multi-robot systems. However, in an unknown environment, it is challenging to achieve rendezvous. Previous researches mainly…