相关论文: Plane Formation by Synchronous Mobile Robots in th…

Robots are becoming an increasingly common part of scientific work within laboratory environments. In this paper, we investigate the problem of designing \emph{schedules} for completing a set of tasks at fixed locations with multiple robots…

A core challenge of multi-robot interactions is collision avoidance among robots with potentially conflicting objectives. We propose a game-theoretic method for collision avoidance based on rotating hyperplane constraints. These constraints…

The autonomous formation flight of fixed-wing drones is hard when the coordination requires the actuation over their speeds since they are critically bounded and aircraft are mostly designed to fly at a nominal airspeed. This paper proposes…

Given a set of $n\geq 1$ unit disk robots in the Euclidean plane, we consider the fundamental problem of providing mutual visibility to them: the robots must reposition themselves to reach a configuration where they all see each other. This…

Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…

While the proposal of the Tri-plane representation has advanced the development of the 3D-aware image generative models, problems rooted in its inherent structure, such as multi-face artifacts caused by sharing the same features in…

A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…

Many robot planning tasks require satisfaction of one or more constraints throughout the entire trajectory. For geometric constraints, manifold-constrained motion planning algorithms are capable of planning collision-free path between start…

A robot simulation system is a basic need for any robotics application. With it, developers' teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. However,…

This paper addresses the problem of multi-robot navigation where robots maneuver on a desired \(m\)-dimensional (i.e., \(m\)-D) manifold in the $n$-dimensional Euclidean space, and maintain a {\it flexible spatial ordering}. We consider $…

We study the problem of coordinating multiple robots along fixed geometric paths. Our contribution is threefold. First we formalize the intuitive concept of priorities as a binary relation induced by a feasible coordination solution,…

This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…

This paper deals with the classical problem of exploring a ring by a cohort of synchronous robots. We focus on the perpetual version of this problem in which it is required that each node of the ring is visited by a robot infinitely often.…

Swarm robotic systems are systems in which multiple robots having simple functionality perform tasks through their cooperation, and are advantageous in that they can exhibit non-trivial macroscopic functions such as adaptability, fault…

The problem of navigating a formation of interconnected tethered drones, named STEM (System of TEthered Multicopters), in an unknown environment is considered. The tethers feed electrical power from a ground station to the drones and also…

Borrowing elementary ideas from solid mechanics and differential geometry, this presentation shows that the volume swept by a regular solid undergoing a wide class of volume-preserving deformations induces a rather natural metric structure…

Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…

Micro- and nanorobots are often controlled by global input signals, such as an electromagnetic or gravitational field. These fields move each robot maximally until it hits a stationary obstacle or another stationary robot. This paper…

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…

In communication restricted environments, a multi-robot system can be deployed to either: i) maintain constant communication but potentially sacrifice operational efficiency due to proximity constraints or ii) allow disconnections to…