相关论文: Optimally Gathering Two Robots

A team consisting of an unknown number of mobile agents, starting from different nodes of an unknown network, have to meet at the same node and terminate. This problem is known as {\em gathering}. We study deterministic gathering algorithms…

This paper devotes to the development of an optimal acceleration/speed profile for autonomous vehicles approaching a traffic light. The design objective is to achieve both short travel time and low energy consumption as well as avoid idling…

In this paper, we propose a distributed algorithm to uniformly scatter the robots along a grid, with robots on alternate nodes of this grid distribution. These homogeneous, autonomous mobile robots place themselves equidistant apart on the…

Given a set of robots with arbitrary initial location and no agreement on a global coordinate system, convergence requires that all robots asymptotically approach the exact same, but unknown beforehand, location. Robots are oblivious-- they…

Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots…

We present a decentralized control algorithm for a robotic swarm given the task of encapsulating static and moving targets in a bounded unknown environment. We consider minimalist robots without memory, explicit communication, or…

This paper tackles the challenge of coordinating traffic lights and automated vehicles at signalized intersections, formulated as a constrained finite-horizon optimal control problem. The problem falls into the category of mixed-integer…

We study the algorithmic problem of optimally covering a tree with $k$ mobile robots. The tree is known to all robots, and our goal is to assign a walk to each robot in such a way that the union of these walks covers the whole tree. We…

This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…

In this work, we explore emergent behaviors by swarms of anonymous, homogeneous, non-communicating, reactive robots that do not know their global position and have limited relative sensing. We introduce a novel method that enables such…

In a simple, undirected graph G, an edge 2-coloring is a coloring of the edges such that no vertex is incident to edges with more than 2 distinct colors. The problem maximum edge 2-coloring (ME2C) is to find an edge 2-coloring in a graph G…

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…

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…

In this study, we explore efficient simulation implementations to demonstrate computational equivalence across various models of autonomous mobile robot swarms. Our focus is on Rsynch, a scheduler designed for energy-restricted robots,…

Federated learning enables training on a massive number of edge devices. To improve flexibility and scalability, we propose a new asynchronous federated optimization algorithm. We prove that the proposed approach has near-linear convergence…

This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…

We study a search problem on capturing a moving target on an infinite real line. Two autonomous mobile robots (which can move with a maximum speed of 1) are initially placed at the origin, while an oblivious moving target is initially…

A team of anonymous mobile agents represented by points freely moving in the plane have to gather at a single point and stop. Agents start at different points of the plane and at possibly different times chosen by the adversary. They are…

This paper develops a planner to find an optimal assembly sequence to assemble several objects. The input to the planner is the mesh models of the objects, the relative poses between the objects in the assembly, and the final pose of the…

Consider two robots that start at the origin of the infinite line in search of an exit at an unknown location on the line. The robots can only communicate if they arrive at the same location at exactly the same time, i.e. they use the…