相关论文: The Gathering Problem for Two Oblivious Robots wit…

Collaborative localization is an essential capability for a team of robots such as connected vehicles to collaboratively estimate object locations from multiple perspectives with reliant cooperation. To enable collaborative localization,…

Gathering mobile robots is a widely studied problem in robotic research. This survey first introduces the related work, summarizing models and results. Then, the focus shifts on the open problem of gathering fat robots. In this context,…

Given any multiset F of points in the Euclidean plane and a set R of robots such that |R|=|F|, the Arbitrary Pattern Formation (APF) problem asks for a distributed algorithm that moves robots so as to reach a configuration similar to F.…

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…

An important real-world application of multi-robot systems is multi-robot patrolling (MRP), where robots must carry out the activity of going through an area at regular intervals. Motivations for MRP include the detection of anomalies that…

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…

A mobile robot system consists of anonymous mobile robots, each of which autonomously performs sensing, computation, and movement according to a common algorithm, so that the robots collectively achieve a given task. There are two main…

In this work, we investigate swarm self-clustering, where robots autonomously organize into spatially coherent groups using only local sensing and decision-making, without external commands, global positioning, or inter-robot communication.…

Consensus control of multiagent systems arises in various robotic applications such as rendezvous and formation control. For example, to compute the control inputs of individual agents, the difference in the positions in aligned coordinate…

The advancement of simulation-assisted robot programming, automation of high-tolerance assembly operations, and improvement of real-world performance engender a need for positionally accurate robots. Despite tight machining tolerances, good…

This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…

A team consisting of an unknown number of mobile agents, starting from different nodes of an unknown network, have to meet at the same node and terminate. This problem is known as {\em gathering}. We study deterministic gathering algorithms…

In this paper, we study the problem of gathering distance-1 myopic robots on an infinite triangular grid. We show that the algorithm developed by Goswami et al. (SSS, 2022) is lattice-linear (cf. Gupta and Kulkarni, SRDS 2023). This implies…

We consider a team of $k$ identical, oblivious, asynchronous mobile robots that are able to sense (\emph{i.e.}, view) their environment, yet are unable to communicate, and evolve on a constrained path. Previous results in this weak scenario…

We propose a gathering protocol for an even number of robots in a ring-shaped network that allows symmetric but not periodic configurations as initial configurations, yet uses only local weak multiplicity detection. Robots are assumed to be…

Coordinated collective motion in bird flocks and fish schools inspires algorithms for cohesive swarm robotics. This paper presents a position-based flocking model that achieves persistent velocity alignment without velocity sensing. By…

The exploration problem in the discrete universe, using identical oblivious asynchronous robots without direct communication, has been well investigated. These robots have sensors that allow them to see their environment and move…

Arbitrary Pattern formation ($\mathcal{APF}$) by a swarm of mobile robots is a widely studied problem in the literature. Many works regarding $\mathcal{APF}$ have been proposed on plane and infinite grid by point robots. But in practical…

Gracefully degrading algorithms [Biely \etal, TCS 2018] are designed to circumvent impossibility results in dynamic systems by adapting themselves to the dynamics. Indeed, such an algorithm solves a given problem under some dynamics and,…

This paper studies, for the first time, the trajectory planning problem in adversarial environments, where the objective is to design the trajectory of a robot to reach a desired final state despite the unknown and arbitrary action of an…