相关论文: Gathering Anonymous, Oblivious Robots on a Grid

Rendezvous aims at gathering all robots at a specific location, which is an important collaborative behavior for multi-robot systems. However, in an unknown environment, it is challenging to achieve rendezvous. Previous researches mainly…

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…

COVID-19 pandemic has become a global challenge faced by people all over the world. Social distancing has been proved to be an effective practice to reduce the spread of COVID-19. Against this backdrop, we propose that the surveillance…

Swarm robots, inspired by the emergence of animal herds, are robots that assemble a large number of modules and self-organize themselves to form specific morphologies and exhibit specific functions. These modular robots perform relatively…

The OBLOT model has been extensively studied in theoretical swarm robotics. It assumes weak capabilities for the involved mobile robots, such as they are anonymous, disoriented, no memory of past events (oblivious), and silent. Their only…

This paper presents a data-driven approach to learning vision-based collective behavior from a simple flocking algorithm. We simulate a swarm of quadrotor drones and formulate the controller as a regression problem in which we generate 3D…

For a set of robots (or agents) moving in a graph, two properties are highly desirable: confidentiality (i.e., a message between two agents must not pass through any intermediate agent) and efficiency (i.e., messages are delivered through…

We present a deep reinforcement learning-based framework for automatically discovering patterns available in any given initial configuration of fat robot swarms. In particular, we model the problem of collision-less gathering and mutual…

Path planning for multiple tethered robots is a challenging problem due to the complex interactions among the cables and the possibility of severe entanglements. Previous works on this problem either consider idealistic cable models or…

A key requirement in robotics is the ability to simultaneously self-localize and map a previously unknown environment, relying primarily on onboard sensing and computation. Achieving fully onboard accurate simultaneous localization and…

Consider a finite set of identical computational entities that can move freely in the Euclidean plane operating in Look-Compute-Move cycles. Let p(t) denote the location of entity p at time t; entity p can see entity q at time t if at that…

Robot swarm is a hot spot in robotic research community. In this paper, we propose a decentralized framework for car-like robotic swarm which is capable of real-time planning in cluttered environments. In this system, path finding is guided…

In the arbitrary pattern formation problem, $n$ autonomous, mobile robots must form an arbitrary pattern $P \subseteq \mathbb{R}^2$. The (deterministic) robots are typically assumed to be indistinguishable, disoriented, and unable to…

Given a set of $n$ point robots inside a simple polygon $P$, the task is to move the robots from their starting positions to their target positions along their shortest paths, while the mutual visibility of these robots is preserved.…

We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…

We study the limits of linear modeling of swarm behavior by characterizing the inflection point beyond which linear models of swarm collective behavior break down. The problem we consider is a central place object gathering task. We design…

We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…

We introduce a new problem in the domain of mobile robots, which we term dispersion. In this problem, $n$ robots are placed in an $n$ node graph arbitrarily and must coordinate with each other to reach a final configuration such that…

The gathering problem requires a set of mobile agents, arbitrarily positioned at different nodes of a network to group within finite time at the same location, not fixed in advanced. The extensive existing literature on this problem shares…

In this work, we study the problem of dispersion of mobile robots on dynamic rings. The problem of dispersion of $n$ robots on an $n$ node graph, introduced by Augustine and Moses Jr. [1], requires robots to coordinate with each other and…