相关论文: Optimal grid exploration by asynchronous oblivious…
We consider the problem of exploring an unknown tree with a team of $k$ initially colocated mobile agents. Each agent has limited energy and cannot, as a result, traverse more than $B$ edges. The goal is to maximize the number of nodes…
We consider the fundamental benchmarking problem of gathering in an $(N,f)$-fault system consisting of $N$ robots, of which at most $f$ might fail at any execution, under asynchrony. Two seminal results established impossibility of a…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
Temporal graphs are graphs where the edge set can change in each time step, and the vertex set stays the same. Exploration of temporal graphs whose snapshot in each time step is a connected graph, called connected temporal graphs, has been…
This research is motivated by the need for effective classification in ice-breaking dynamic simulations, aimed at determining the conditions under which an underwater vehicle will break through the ice. This simulation is extremely…
In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm…
Arbitrary pattern formation (\textsc{Apf}) is a well-studied problem in swarm robotics. To the best of our knowledge, the problem has been considered in two different settings: one in a euclidean plane and another in an infinite grid. This…
Mobile robots, especially unmanned aerial vehicles (UAVs), are of increasing interest for surveillance and disaster response scenarios. We consider the problem of multi-robot persistent surveillance with connectivity constraints where…
Consider a team of $k \leq n$ autonomous mobile robots initially placed at a node of an arbitrary graph $G$ with $n$ nodes. The dispersion problem asks for a distributed algorithm that allows the robots to reach a configuration in which…
We consider a distributed system of n identical mobile robots operating in the two dimensional Euclidian plane. As in the previous studies, we consider the robots to be anonymous, oblivious, dis-oriented, and without any communication…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…
This paper addresses the mutual visibility problem for a set of semi-synchronous, opaque robots occupying distinct positions in the Euclidean plane. Since robots are opaque, if three robots lie on a line, the middle robot obstructs the…
High-level autonomy requires discrete and continuous reasoning to decide both what actions to take and how to execute them. Integrated Task and Motion Planning (TMP) algorithms solve these hybrid problems jointly to consider constraints…
In the graph exploration problem, a team of mobile computational entities, called agents, arbitrarily positioned at some nodes of a graph, must cooperate so that each node is eventually visited by at least one agent. In the literature, the…
Anonymous mobile robots are often classified into synchronous, semi-synchronous and asynchronous robots when discussing the pattern formation problem. For semi-synchronous robots, all patterns formable with memory are also formable without…
We investigate the decidability of the emptiness problem for three classes of distributed automata. These devices operate on finite directed graphs, acting as networks of identical finite-state machines that communicate in an infinite…
In the field of distributed computing by robot swarms, the research comprehends manifold models where robots operate in the Euclidean plane through a sequence of look-compute-move cycles. Models under study differ for (i) the possibility of…
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…
Heterogeneous multi-robot systems are advantageous for operations in unknown environments because functionally specialised robots can gather environmental information, while others perform tasks. We define this decomposition as the…
This paper presents a comprehensive overview of exploration strategies utilized in both 2D and 3D environments, focusing on autonomous multi-robot systems designed for building exploration and fire detection. We explore the limitations of…