相关论文: RoboCast: Asynchronous Communication in Robot Netw…

Numerous protocols for geocast have been proposed in literature. It has been shown that explicit route setup approaches perform poorly with VANETs due to limited route lifetime and frequent network fragmentation. The broadcast based…

Radio networks are a long-studied model for distributed system of devices which communicate wirelessly. When these devices are mobile or have limited capabilities, the system is often best modeled by the ad-hoc variant, in which the devices…

We introduce Robix, a unified model that integrates robot reasoning, task planning, and natural language interaction within a single vision-language architecture. Acting as the high-level cognitive layer in a hierarchical robot system,…

In this paper, we provide a framework integrating distributed multi-robot systems and temporal epistemic logic. We show that continuous-discrete hybrid systems are compatible with logical models of knowledge already used in distributed…

The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robots is particularly challenging in field deployments.…

In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long…

In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

Recent advancements in Artificial Intelligence (AI) have largely been propelled by scaling. In Robotics, scaling is hindered by the lack of access to massive robot datasets. We advocate using realistic physical simulation as a means to…

\textsc{Arbitrary Pattern Formation} is a fundamental problem in autonomous mobile robot systems. The problem asks to design a distributed algorithm that moves a team of autonomous, anonymous and identical mobile robots to form any…

We propose an artificial-noise alignment scheme for multicasting a common-confidential message to a group of receivers. Our scheme transmits a superposition of information and noise symbols. The noise symbols are aligned at each legitimate…

The ongoing surge in applications of robotics brings both opportunities and challenges for the fifth-generation (5G) and beyond (B5G) of communication networks. This article focuses on 5G/B5G-enabled terrestrial robotic communications with…

We introduce the \emph{graphical reconfigurable circuits (GRC)} model as an abstraction for distributed graph algorithms whose communication scheme is based on local mechanisms that collectively construct long-range reconfigurable channels…

The Robot Context Protocol (RCP) is a lightweight, middleware-agnostic communication protocol designed to simplify the complexity of robotic systems and enable seamless interaction between robots, users, and autonomous agents. RCP provides…

This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…

In the gathering problem, n autonomous robots have to meet on a single point. We consider the gathering of a closed chain of point-shaped, anonymous robots on a grid. The robots only have local knowledge about a constant number of…

We observe a large variety of robots in terms of their bodies, sensors, and actuators. Given the commonalities in the skill sets, teaching each skill to each different robot independently is inefficient and not scalable when the large…

The increasing number of robots in home environments leads to an emerging coexistence between humans and robots. Robots undertake common tasks and support the residents in their everyday life. People appreciate the presence of robots in…

This document describes a new consensus algorithm which is asynchronous and uses gossip based message dissemination between nodes. The current version of the algorithm does not cover the case of a node failure or significantly delayed…

In this work we consider the problem of gathering autonomous robots in the plane. In particular, we consider non-transparent unit-disc robots (i.e., fat) in an asynchronous setting. Vision is the only mean of coordination. Using a…