相关论文: Evacuating Two Robots from Two Unknown Exits on th…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
Future applications in environmental monitoring, delivery of services and transportation of goods motivate the study of deployment and partitioning tasks for groups of autonomous mobile agents. These tasks are achieved by recent coverage…
This paper addresses the mutual visibility problem for a set of semi-synchronous, opaque robots occupying distinct positions in the Euclidean plane. Since robots are opaque, if three robots lie on a line, the middle robot obstructs the…
The \textsc{Mutual Visibility} is a well-known problem in the context of mobile robots. For a set of $n$ robots disposed in the Euclidean plane, it asks for moving the robots without collisions so as to achieve a placement ensuring that no…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
Collaborative multiple robots for unknown environment exploration have become mainstream due to their remarkable performance and efficiency. However, most existing methods assume perfect robots' communication during exploration, which is…
In a diverse set of robotics applications, including RoboCup categories, mobile robots require control commands to interact with surrounding environment correctly. These control commands should come wirelessly to not interfere in robots'…
In this letter, we present a distributed algorithm for flocking in complex environments that operates at constant altitude, without explicit communication, no a priori information about the environment, and by using only on-board sensing…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
In our prior work, we outlined an approach, named DisCoF, for cooperative pathfinding in distributed systems with limited sensing and communication range. Contrasting to prior works on cooperative pathfinding with completeness guarantees,…
In this paper, we study the circle formation problem by multiple autonomous and homogeneous disc-shaped robots (also known as fat robots). The goal of the robots is to place themselves on the periphery of a circle. Circle formation has many…
In robot swarms operating under highly restrictive sensing and communication constraints, individuals may need to use direct physical proximity to facilitate information exchange. However, in certain task-related scenarios, this requirement…
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…
Our overall program objective is to provide more natural ways for soldiers to interact and communicate with robots, much like how soldiers communicate with other soldiers today. We describe how the Wizard-of-Oz (WOz) method can be applied…
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)…
The gathering over meeting nodes problem asks the robots to gather at one of the pre-defined meeting nodes. The robots are deployed on the nodes of an anonymous two-dimensional infinite grid which has a subset of nodes marked as meeting…
The graph exploration problem requires a group of mobile robots, initially placed arbitrarily on the nodes of a graph, to work collaboratively to explore the graph such that each node is eventually visited by at least one robot. One…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…