相关论文: A local strategy for cleaning expanding cellular d…
We investigate the exploration problem of a short-sighted mobile robot moving in an unknown cellular room. To explore a cell, the robot must enter it. Once inside, the robot knows which of the 4 adjacent cells exist and which are boundary…
We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…
In this paper, we propose a new approach for building cellular automata to solve real-world segmentation problems. We design and train a cellular automaton that can successfully segment high-resolution images. We consider a colony that…
In this paper we study the strengths and limitations of collaborative teams of simple agents. In particular, we discuss the efficient use of "ant robots" for covering a connected region on the $Z^{2}$ grid, whose area is unknown in advance…
We investigate the online exploration problem (aka covering) of a short-sighted mobile robot moving in an unknown cellular environment with hexagons and triangles as types of cells. To explore a cell, the robot must enter it. Once inside,…
The limited energy capacity of individual robotic agents in a swarm often limits the possible cooperative tasks they can perform. In this work, we investigate the problem of covering an unknown connected grid environment (e.g. a maze or…
We propose distributed algorithms to automatically deploy a team of mobile robots to partition and provide coverage of a non-convex environment. To handle arbitrary non-convex environments, we represent them as graphs. Our partitioning and…
We develop and analyze algorithms for dispersing a swarm of primitive robots in an unknown environment, R. The primary objective is to minimize the makespan, that is, the time to fill the entire region. An environment is composed of pixels…
We propose a simple cellular automaton model of a self-healing system and investigate its properties. In the model, the substrate is a two-dimensional checkerboard configuration which can be damaged by changing values of a finite number of…
We consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network intermittently connected. We abstract the task locations into…
We consider the problem of organizing a scattered group of $n$ robots in two-dimensional space, with geometric maximum distance $D$ between robots. The communication graph of the swarm is connected, but there is no central authority for…
Enhancing robot navigation efficiency is a crucial objective in modern robotics. Robots relying on external navigation systems are often susceptible to electromagnetic interference (EMI) and encounter environmental disturbances, resulting…
We propose a probabilistic cellular automata model for the spread of innovations, rumors, news, etc. in a social system. The local rule used in the model is outertotalistic, and the range of interaction can vary. When the range R of the…
We propose a targeted intervention protocol where recovery is restricted to individuals that have the least number of infected neighbours. Our recovery strategy is highly efficient on any kind of network, since epidemic outbreaks are…
Harmful marine spills, such as algae blooms and oil spills, damage ecosystems and threaten public health tremendously. Hence, an effective spill coverage and removal strategy will play a significant role in environmental protection. In…
The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…
Recently, as the demand for cleaning robots has steadily increased, therefore household electricity consumption is also increasing. To solve this electricity consumption issue, the problem of efficient path planning for cleaning robot has…
The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robots is particularly challenging in field deployments.…
This paper presents a distributed painting algorithm for painting a priori known rectangular region by swarm of autonomous mobile robots. We assume that the region is obstacle free and of rectangular in shape. The basic approach is to…
The paper presents a strategy for robotic exploration problem using Space-Filling curves (SFC). The strategy plans a path that avoids unknown obstacles while ensuring complete coverage of the free space in region of interest. The region of…