相关论文: Exploring Simple Triangular and Hexagonal Grid Pol…

Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…

Grid cells in the medial entorhinal cortex (MEC) of the mammalian brain exhibit a strikingly regular hexagonal firing field over space. These cells are learned after birth and are thought to support spatial navigation but also more abstract…

A hybrid map representation, which consists of a modified generalized Voronoi Diagram (GVD)-based topological map and a grid-based metric map, is proposed to facilitate a new frontier-driven exploration strategy. Exploration frontiers are…

We give tight cell-probe bounds for the time to compute convolution, multiplication and Hamming distance in a stream. The cell probe model is a particularly strong computational model and subsumes, for example, the popular word RAM model.…

The general position problem asks for large sets of vertices such that no three vertices of the set lie on a common shortest path. Recently a dynamic version of this problem was defined, called the \emph{mobile general position problem}, in…

Robotic fleets such as unmanned aerial and ground vehicles have been widely used for routine inspections of static environments, where the areas of interest are known and planned in advance. However, in many applications, such areas of…

Multi-robot systems are an efficient method to explore and map an unknown environment. The simulataneous localization and mapping (SLAM) algorithm is common for single robot systems, however multiple robots can share respective map data in…

This work deals with the problem of gathering $n$ oblivious mobile entities, called robots, at a point (not known beforehand) placed on an infinite triangular grid. The robots are considered to be myopic, i.e., robots have limited…

Very distinct strategies can be deployed to recognize and characterize an unknown environment or a shape. A recent and promising approach, especially in robotics, is to reduce the complexity of the exploratory units to a minimum. Here, we…

Line coverage is the task of servicing a given set of one-dimensional features in an environment. It is important for the inspection of linear infrastructure such as road networks, power lines, and oil and gas pipelines. This paper…

To perform tasks well in a new domain, one must first know something about it. This paper reports on a robot controller for navigation through unfamiliar indoor worlds. Based on spatial affordances, it integrates planning with reactive…

We study the problem of collective tree exploration in which a team of $k$ mobile agents must collectively visit all nodes of an unknown tree in as few moves as possible. The agents all start from the root and discover adjacent edges as…

Cellular automata are one-dimensional arrays of interconnected interacting finite automata. We investigate one of the weakest classes, the real-time one-way cellular automata, and impose an additional restriction on their inter-cell…

The line coverage problem involves finding efficient routes for the coverage of linear features by one or more resource-constrained robots. Linear features model environments like road networks, power lines, and oil and gas pipelines. Two…

Robots often have to deal with the challenges of operating in dynamic and sometimes unpredictable environments. Although an occupancy map of the environment is sufficient for navigation of a mobile robot or manipulation tasks with a robotic…

We study a primitive vehicle routing-type problem in which a fleet of $n$unit speed robots start from a point within a non-obtuse triangle $\Delta$, where $n \in \{1,2,3\}$. The goal is to design robots' trajectories so as to visit all…

This paper proposes a concise coding of the cells of n-dimensional finite regular grids. It induces a simple, generic and efficient framework for implementing classical digital topology data structures and algorithms. Discrete subsets of…

This paper deals with the classical problem of exploring a ring by a cohort of synchronous robots. We focus on the perpetual version of this problem in which it is required that each node of the ring is visited by a robot infinitely often.…

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 work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…