相关论文: Optimal grid exploration by asynchronous oblivious…

This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous…

In this paper we propose and prove correct a new self-stabilizing velocity agreement (flocking) algorithm for oblivious and asynchronous robot networks. Our algorithm allows a flock of uniform robots to follow a flock head emergent during…

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…

To achieve optimal robot behavior in dynamic scenarios we need to consider complex dynamics in a predictive manner. In the vehicle dynamics community, it is well know that to achieve time-optimal driving on low surface, the vehicle should…

While multi-joint continuum robots are highly dexterous and flexible, designing an optimal robot can be challenging due to its kinematics involving curvatures. Hence, the current work presents a computational method developed to find…

In a connected graph with an autonomous robot swarm with limited visibility, it is natural to ask whether the robots can be deployed to certain vertices satisfying a given property using only local knowledge. This paper affirmatively…

This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…

Teams of mobile [aerial, ground, or aquatic] robots have applications in resource delivery, patrolling, information-gathering, agriculture, forest fire fighting, chemical plume source localization and mapping, and search-and-rescue. Robot…

In this paper, the parking problem of a swarm of mobile robots has been studied. The robots are deployed at the nodes of an infinite grid, which has a subset of prefixed nodes marked as parking nodes. Each parking node p_i has a capacity of…

We consider the problem of periodic graph exploration in which a mobile entity with constant memory, an agent, has to visit all n nodes of an arbitrary undirected graph G in a periodic manner. Graphs are supposed to be anonymous, that is,…

The Arbitrary Pattern Formation problem asks for a distributed algorithm that moves a set of autonomous mobile robots to form any arbitrary pattern given as input. The robots are assumed to be autonomous, anonymous and identical. They…

Many robots move through the world by composing locomotion primitives like steps and turns. To do so well, robots need not have primitives that make intuitive sense to humans. This becomes of paramount importance when robots are damaged and…

We consider search in a finite 3D cubic grid by a metamorphic robotic system (MRS), that consists of anonymous modules. A module can perform a sliding and rotation while the whole modules keep connectivity. As the number of modules…

The goal of coordinated multi-robot exploration tasks is to employ a team of autonomous robots to explore an unknown environment as quickly as possible. Compared with human-designed methods, which began with heuristic and rule-based…

This paper proposes a new reactive temporal logic planning algorithm for multiple robots that operate in environments with unknown geometry modeled using occupancy grid maps. The robots are equipped with individual sensors that allow them…

We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…

For a set of robots (or agents) moving in a graph, two properties are highly desirable: confidentiality (i.e., a message between two agents must not pass through any intermediate agent) and efficiency (i.e., messages are delivered through…

As robots become ubiquitous in the workforce, it is essential that human-robot collaboration be both intuitive and adaptive. A robot's quality improves based on its ability to explicitly reason about the time-varying (i.e. learning curves)…

This work deals with the Maximum Independent Set ($\mathcal{MIS}$) formation problem in a finite rectangular grid by autonomous robots. Suppose we are given a set of identical robots, where each robot is placed on a node of a finite…

In distributed computing by mobile robots, robots are deployed over a region, continuous or discrete, operating through a sequence of \textit{look-compute-move} cycles. An extensive study has been carried out to understand the computational…