相关论文: Asymptotically Optimal Gathering on a Grid
Swarm robotics is a creative method of organizing multi-robot structures, consisting of many basic robots influenced by communal insects. The greatest astonishing attribute of swarm robots is their capacity to function together to…
In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…
We consider a team of heterogeneous robots which are deployed within a common workspace to gather different types of data. The robots have different roles due to different capabilities: some gather data from the workspace (source robots)…
One of the main tasks for autonomous robot swarms is to collectively decide on the best available option. Achieving that requires a high quality communication between the agents that may not be always available in a real world environment.…
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…
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.…
Given $n$ points in a circular region $C$ in the plane, we study the problems of moving the $n$ points to its boundary to form a regular $n$-gon such that the maximum (min-max) or the sum (min-sum) of the Euclidean distances traveled by the…
Robotic shepherding is a bio-inspired approach to autonomously guiding a swarm of agents towards a desired location. The research area has earned increasing research interest recently due to the efficacy of controlling a large number of…
We consider a collection of $k \geq 2$ robots that evolve in a ring-shaped network without common orientation, and address a variant of the crash-tolerant gathering problem called the \emph{Stand-Up Indulgent Gathering} (SUIG): given a…
We study the Rendezvous problem for 2 autonomous mobile robots in asynchronous settings with persistent memory called light. It is well known that Rendezvous is impossible in a basic model when robots have no lights, even if the system is…
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…
Social insects in nature such as ants, termites and bees construct their colonies collaboratively in a very efficient process. In these swarms, each insect contributes to the construction task individually showing redundant and parallel…
Finding asymptotically-optimal paths in multi-robot motion planning problems could be achieved, in principle, using sampling-based planners in the composite configuration space of all of the robots in the space. The dimensionality of this…
Recent empirical observations of three-dimensional bird flocks and human crowds have challenged the long-prevailing assumption that a metric interaction distance rules swarming behaviors. In some cases, individual agents are found to be…
The traditional distributed model of autonomous, homogeneous, mobile point robots usually assumes that the robots do not create any visual obstruction for the other robots, i.e., the robots are see through. In this paper, we consider a…
Mutual localization is essential for coordination and cooperation in multi-robot systems. Previous works have tackled this problem by assuming available correspondences between measurements and received odometry estimations, which are…
Morphological computing, the use of the physical design of a robot to ease the realization of a given task has been proven to be a relevant concept in the context of swarm robotics. Here we demonstrate both experimentally and numerically,…
In this paper, we develop a \textcolor{black}{\emph{distributed}} algorithm to localize a network of robots moving arbitrarily in a bounded region. In the case of such mobile networks, the main challenge is that the robots may not be able…
Coordinated motion control in swarm robotics aims to ensure the coherence of members in space, i.e., the robots in a swarm perform coordinated movements to maintain spatial structures. This problem can be modeled as a tracking control…
The topology of a robotic swarm affects the convergence speed of consensus and the mobility of the robots. In this paper, we prove the existence of a complete set of local topology manipulation operations that allow the transformation of a…