相关论文: Optimal Asynchronous Rendezvous for Mobile Robots …

We study the problem of determining optimal coordinated motions for two disc robots in an otherwise obstacle-free plane. Using the total path length traced by the two disc centres as a measure of distance, we give an exact characterization…

Intersections are essential road infrastructures for traffic in modern metropolises. However, they can also be the bottleneck of traffic flows as a result of traffic incidents or the absence of traffic coordination mechanisms such as…

One of the pivotal challenges in a multi-robot system is how to give attention to accuracy and efficiency while ensuring safety. Prior arts cannot strictly guarantee collision-free for an arbitrarily large number of robots or the results…

Multi-robot patrolling represents a fundamental problem for many monitoring and surveillance applications and has gained significant interest in recent years. In patrolling, mobile robots repeatedly travel through an environment, capture…

Given a set of co-located mobile robots in an unknown anonymous graph, the robots must relocate themselves in distinct graph nodes to solve the dispersion problem. In this paper, we consider the dispersion problem for silent robots…

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 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…

We propose a gathering protocol for an even number of robots in a ring-shaped network that allows symmetric but not periodic configurations as initial configurations, yet uses only local weak multiplicity detection. Robots are assumed to be…

In a rendezvous task, some mobile agents dispersed in a network have to gather at an arbitrary common site. We consider the rendezvous problem on the infinite labeled line, with $2$ agents, without communication, and a synchronous notion of…

This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…

Two mobile agents, starting from different nodes of an unknown network, have to meet at the same node. Agents move in synchronous rounds using a deterministic algorithm. Each agent has a different label, which it can use in the execution of…

We present the problem of finding a maximal independent set (MIS) (named as \emph{MIS Filling problem}) of an arbitrary connected graph having $n$ vertices with luminous myopic mobile robots. The robots enter the graph one after another…

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…

This paper presents a computationally efficient optimization algorithm for solving nonconvex optimal control problems that involve discrete logic constraints. Traditional solution methods for these constraints require binary variables and…

We consider the classical problem of making mobile processes gather or converge at a same position (as performed by swarms of animals in Nature). Existing works assume that each process can see all other processes, or all processes within a…

The gathering over meeting nodes problem requires the robots to gather at one of the pre-defined meeting nodes. This paper investigates the problem with respect to the objective function that minimizes the total number of moves made by all…

Gathering mobile robots is a widely studied problem in robotic research. This survey first introduces the related work, summarizing models and results. Then, the focus shifts on the open problem of gathering fat robots. In this context,…

This paper considers the problem of assigning multiple mobile robots to goals on transport networks with uncertain information about travel times. Our aim is to produce optimal assignments, such that the average waiting time at destinations…

Despite recent progress on trajectory planning of multiple robots and path planning of a single tethered robot, planning of multiple tethered robots to reach their individual targets without entanglements remains a challenging problem. In…

Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…