相关论文: Optimal grid exploration by asynchronous oblivious…

We consider geometric collision-detection problems for modular reconfigurable robots. Assuming the nodes (modules) are connected squares on a grid, we investigate the complexity of deciding whether collisions may occur, or can be avoided,…

In this work, we initiate the research about the Gathering problem for robots with limited viewing range in the three-dimensional Euclidean space. In the Gathering problem, a set of initially scattered robots is required to gather at the…

We give a simple characterization of the functions that can be computed deterministically by anonymous processes in dynamic networks, depending on the number of leaders in the network. In addition, we provide efficient distributed…

We give the first linear-time counting algorithm for processes in anonymous 1-interval-connected dynamic networks with a leader. As a byproduct, we are able to compute in $3n$ rounds every function that is deterministically computable in…

Embodied navigation in underground mines faces significant challenges, including narrow passages, uneven terrain, near-total darkness, GPS-denied conditions, and limited communication infrastructure. While recent learning-based approaches…

The Meeting problem for $k\geq 2$ searchers in a polygon $P$ (possibly with holes) consists in making the searchers move within $P$, according to a distributed algorithm, in such a way that at least two of them eventually come to see each…

Robots navigating dynamic, cluttered, and semantically complex environments must integrate perception, symbolic reasoning, and spatial planning to generalize across diverse layouts and object categories. Existing methods often rely on…

This paper proposes a distributed algorithm which deterministically gathers n (n > 4) asynchronous, fat robots. The robots are assumed to be transparent and they have full visibility. The robots are initially considered to be stationary. A…

Autonomous navigation of steel bridge inspection robots is essential for proper maintenance. The majority of existing robotic solutions for steel bridge inspection requires human intervention to assist in the control and navigation. In this…

Dispersion of mobile robots over the nodes of an anonymous graph is an important problem and turns out to be a crucial subroutine for designing efficient algorithms for many fundamental graph problems via mobile robots. In this problem,…

Recent papers have shown optimally-competitive on-line strategies for a robot traveling from a point $s$ to a point $t$ in certain unknown geometric environments. We consider the question: Having gained some partial information about the…

A fundamental problem in Distributed Computing is the Pattern Formation problem, where some independent mobile entities, called robots, have to rearrange themselves in such a way as to form a given figure from every possible…

Several distributed algorithms are presented for the exploration of unknown indoor regions by a swarm of flying, energy constrained agents. The agents, which are identical, autonomous, anonymous and oblivious, uniformly cover the region and…

Exploration of unknown environments is an important challenge in the field of robotics. While a single robot can achieve this task alone, evidence suggests it could be accomplished more efficiently by groups of robots, with advantages in…

Consider a region that requires to be protected from unauthorized penetrations. The border of the region, modeled as a unit line segment, consists of high priority segments that require the highest level of protection separated by low…

In this paper we present some results obtained with a troupe of low-cost robots designed to cooperatively explore and adquire the map of unknown structured orthogonal environments. In order to improve the covering of the explored zone, the…

Robots operate in environments with varying implicit structure. For instance, a helicopter flying over terrain encounters a very different arrangement of obstacles than a robotic arm manipulating objects on a cluttered table top.…

The computational power of autonomous mobile robots under the Look-Compute-Move (LCM) model has been widely studied through an extensive hierarchy of robot models defined by the presence of memory, communication, and synchrony assumptions.…

We present an algorithm that ensures in finite time the gathering of two robots in the non-rigid ASYNC model. To circumvent established impossibility results, we assume robots are equipped with 2-colors lights and are able to measure…

We present a novel class of robots belonging to Constrained Collaborative Mobile Agents (CCMA) family which consists of ground mobile bases with non-holonomic constraints. Moreover, these mobile robots are constrained by closed-loop…