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We propose a decentralized control algorithm for a minimalistic robotic swarm with limited capabilities such that the desired global behavior emerges. We consider the problem of searching for and encapsulating various targets present in the…

Collaborative path planning for robot swarms in complex, unknown environments without external positioning is a challenging problem. This requires robots to find safe directions based on real-time environmental observations, and to…

Decentralized control of robots has attracted huge research interests. However, some of the research used unrealistic assumptions without collision avoidance. This report focuses on the collision-free control for multiple robots in both…

Autonomous robot teams navigating partially known environments face costly backtracking when ground robots encounter blocked roads that are only revealed upon physical traversal. We address this with Scout-Assisted Planning, a heterogeneous…

Autonomous exploration in mobile robotics often involves a trade-off between two objectives: maximizing environmental coverage and minimizing the total path length. In the widely used information gain paradigm, exploration is guided by the…

Consider robot swarm wireless networks where mobile robots offload their computing tasks to a computing server located at the mobile edge. Our aim is to maximize the swarm lifetime through efficient exploitation of the correlation between…

Autonomous exploration for mapping unknown large scale environments is a fundamental challenge in robotics, with efficiency in time, stability against map corruption and computational resources being crucial. This paper presents a novel…

We propose distributed algorithms to automatically deploy a team of mobile robots to partition and provide coverage of a non-convex environment. To handle arbitrary non-convex environments, we represent them as graphs. Our partitioning and…

Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…

We consider a swarm of $n$ autonomous mobile robots, distributed on a 2-dimensional grid. A basic task for such a swarm is the gathering process: All robots have to gather at one (not predefined) place. A common local model for extremely…

Autonomous exploration in unknown environments remains a fundamental challenge in robotics, particularly for applications such as search and rescue, industrial inspection, and planetary exploration. Multi-robot active SLAM presents a…

We present a solution for locating the source, or maximum, of an unknown scalar field using a swarm of mobile robots. Unlike relying on the traditional gradient information, the swarm determines an ascending direction to approach the source…

We consider a team of {\em autonomous weak robots} that are endowed with visibility sensors and motion actuators. Autonomous means that the team cannot rely on any kind of central coordination mechanism or scheduler. By weak we mean that…

Efficient routing of mobile robot fleets is crucial in intralogistics, where delays and deadlocks can substantially reduce system throughput. Roadmap design, specifying feasible transport routes, directly affects fleet coordination and…

In autonomous robotics, a critical challenge lies in developing robust solutions for Active Collaborative SLAM, wherein multiple robots collaboratively explore and map an unknown environment while intelligently coordinating their movements…

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…

This study explores the problem of Multi-Agent Path Finding with continuous and stochastic travel times whose probability distribution is unknown. Our purpose is to manage a group of automated robots that provide package delivery services…

Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a…

State estimation is a fundamental requirement in robotics, where the accurate determination of a robot's state is essential for stable operation despite inherent process disturbances and sensor noise. Traditionally, this is achieved through…

Robot swarm is a hot spot in robotic research community. In this paper, we propose a decentralized framework for car-like robotic swarm which is capable of real-time planning in cluttered environments. In this system, path finding is guided…