相关论文: Plane Formation by Synchronous Mobile Robots in th…
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…
Most existing robot formation problems seek a target formation of a certain \emph{minimal} and, thus, efficient structure. Examples include the Gathering and the Chain-Formation problem. In this work, we study formation problems that try to…
We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…
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…
We consider the problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time spent there. We…
For enabling efficient, large-scale coordination of unmanned aerial vehicles (UAVs) under the labeled setting, in this work, we develop the first polynomial time algorithm for the reconfiguration of many moving bodies in three-dimensional…
Two cooperating, autonomous mobile robots with arbitrary nonzero max speeds are placed at arbitrary initial positions in the plane. A remotely detonated bomb is discovered at some source location and must be moved to a safe distance away…
Simultaneous localization and mapping, especially the one relying solely on video data (vSLAM), is a challenging problem that has been extensively studied in robotics and computer vision. State-of-the-art vSLAM algorithms are capable of…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
A metamorphic robotic system (MRS) consists of anonymous modules, each of which autonomously moves in the 2D square grid by sliding and rotation with keeping connectivity among the modules. Existing literature considers distributed…
This paper aims to design quadrotor swarm performances, where the swarm acts as an integrated, coordinated unit embodying moving and deforming objects. We divide the task of creating a choreography into three basic steps: designing swarm…
We study the problem of motion-planning for free-flying multi-link robots and develop a sampling-based algorithm that is specifically tailored for the task. Our work is based on the simple observation that the set of configurations for…
The rapid advancement of artificial intelligence is enabling the development of increasingly autonomous robots capable of operating beyond engineered factory settings and into the unstructured environments of human life. This shift raises a…
Robotic fleets such as unmanned aerial and ground vehicles have been widely used for routine inspections of static environments, where the areas of interest are known and planned in advance. However, in many applications, such areas of…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
Due to its decentralised, distributed and scalable nature, swarm robotics has great potential for applications ranging from agriculture to environmental monitoring and logistics. Various swarm control methods and algorithms are currently…
Decentralized control of mobile robotic sensor networks is a fundamental problem in robotics that has attracted intensive research in recent decades. Most of the existing works dealt with two-dimensional spaces. This report is concerned…
We present the first decentralized multi-copter flock that performs stable autonomous outdoor flight with up to 10 flying agents. By decentralized and autonomous we mean that all members navigate themselves based on the dynamic information…
The proliferation of robots in public spaces necessitates a deeper understanding of how these robots can interact with those they share the space with. In this paper, we present findings from video analysis of publicly deployed cleaning…
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…