相关论文: Emergent velocity agreement in robot networks

In this paper, we study the circle formation problem by multiple autonomous and homogeneous disc-shaped robots (also known as fat robots). The goal of the robots is to place themselves on the periphery of a circle. Circle formation has many…

An autonomous mobile robot system is a distributed system consisting of mobile computational entities (called robots) that autonomously and repeatedly perform three operations: Look, Compute, and Move. Various problems related to autonomous…

Vector clock algorithms are basic wait-free building blocks that facilitate causal ordering of events. As wait-free algorithms, they are guaranteed to complete their operations within a finite number of steps. Stabilizing algorithms allow…

This paper revisits the widely researched \textit{gathering} problem for two robots in a scenario which allows randomization in the asynchronous scheduling model. The scheduler is considered to be the adversary which determines the…

This work addresses the gathering problem for a set of autonomous, anonymous, and homogeneous robots with limited visibility operating in a continuous circle. The robots are initially placed at distinct positions, forming a rotationally…

We consider two mobile oblivious robots that evolve in a continuous Euclidean space. We require the two robots to solve the rendezvous problem (meeting in finite time at the same location, not known beforehand) despite the possibility that…

One of the pivotal challenges in a multi-robot system is how to give attention to accuracy and efficiency while ensuring safety. Prior arts cannot strictly guarantee collision-free for an arbitrarily large number of robots or the results…

The gathering over meeting nodes problem asks the robots to gather at one of the pre-defined meeting nodes. The robots are deployed on the nodes of an anonymous two-dimensional infinite grid which has a subset of nodes marked as meeting…

For decades, robotics researchers have pursued various tasks for multi-robot systems, from cooperative manipulation to search and rescue. These tasks are multi-robot extensions of classical robotic tasks and often optimized on dimensions…

The flock-guidance problem enjoys a challenging structure where multiple optimization objectives are solved simultaneously. This usually necessitates different control approaches to tackle various objectives, such as guidance, collision…

In the dispersion problem, a set of $k$ co-located mobile robots must relocate themselves in distinct nodes of an unknown network. The network is modeled as an anonymous graph $G=(V,E)$, where the nodes of the graph are not labeled. The…

The study of the movement of flocks, whether biological or technological is motivated by the desire to understand the capability of coherent motion of a large number of agents that only receive very limited information. In a biological…

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…

This paper introduces collaborating robots which provide the possibility of enhanced task performance, high reliability and decreased. Collaborating-bots are a collection of mobile robots able to self-assemble and to self-organize in order…

The study of flocking in biological systems has identified conditions for self-organized collective behavior, inspiring the development of decentralized strategies to coordinate the dynamics of swarms of drones and other autonomous…

The study of robotic flocking has received significant attention in the past twenty years. In this article, we present a constraint-driven control algorithm that minimizes the energy consumption of individual agents and yields an emergent V…

Consider a set of $n$ simple autonomous mobile robots (asynchronous, no common coordinate system, no identities, no central coordination, no direct communication, no memory of the past, non-rigid, deterministic) initially in distinct…

Cooperative transport is a striking phenomenon where multiple agents join forces to transit a payload too heavy for the individual. While social animals such as ants are routinely observed to coordinate transport at scale, reproducing the…

This paper proposes a strategy for a group of deaf and dumb robots, carrying clocks from different countries, to meet at a geographical location which is not fixed in advanced. The robots act independently. They can observe others, compute…

This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…