相关论文: Optimal Rendezvous ${\mathcal L}$-Algorithms for A…

This paper considers trajectory planning for a mobile robot which persistently relays data between pairs of far-away communication nodes. Data accumulates stochastically at each source, and the robot must move to appropriate positions to…

In this paper, we consider the Constant-cost Orienteering Problem (COP) where a robot, constrained by a limited travel budget, aims at selecting a path with the largest reward in an aisle-graph. The aisle-graph consists of a set of loosely…

Future multi-spacecraft missions require robust autonomous trajectory optimization capabilities to ensure safe and efficient rendezvous operations. This capability hinges on solving non-convex optimal control problems in real-time, although…

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…

Higher-dimensional sliding puzzles are constructed on the vertices of a $d$-dimensional hypercube, where $2^d-l$ vertices are distinctly coloured. Rings with the same colours are initially set randomly on the vertices of the hypercube. The…

This paper presents a convex approach to the optimization of a cooperative rendezvous, that is, the problem of two distant spacecraft that simultaneously operate to get closer. Convex programming guarantees convergence towards the optimal…

In the rendezvous problem, two parties with different labelings of the vertices of a complete graph are trying to meet at some vertex at the same time. It is well-known that if the parties have predetermined roles, then the strategy where…

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…

A swarm of anonymous oblivious mobile robots, operating in deterministic Look-Compute-Move cycles, is confined within a circular track. All robots agree on the clockwise direction (chirality), they are activated by an adversarial…

We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…

Anonymous mobile robots are often classified into synchronous, semi-synchronous and asynchronous robots when discussing the pattern formation problem. For semi-synchronous robots, all patterns formable with memory are also formable without…

In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…

We consider a swarm of $n$ robots in \mathbb{R}^d. The robots are oblivious, disoriented (no common coordinate system/compass), and have limited visibility (observe other robots up to a constant distance). The basic formation task gathering…

Obstacle avoidance is one of the essential and indispensable functions for autonomous mobile robots. Most of the existing solutions are typically based on single condition constraint and cannot incorporate sensor data in a real-time manner,…

Consider a group of autonomous mobile computational entities called robots. The robots move in the Euclidean plane and operate according to synchronous $Look$-$Compute$-$Move$ cycles. The computational capabilities of the robots under the…

An autonomous robot with a limited vision range finds a path to the goal in an unknown environment in 2D avoiding polygonal obstacles. In the process of discovering the environmental map, the robot has to return to some positions marked…

RecentadvancesinDistributedComputinghighlightmodelsandalgo- rithms for autonomous swarms of mobile robots that self-organize and cooperate to solve global objectives. The overwhelming majority of works so far considers handmade algorithms…

Traffic congestion is a persistent problem in our society. Previous methods for traffic control have proven futile in alleviating current congestion levels leading researchers to explore ideas with robot vehicles given the increased…

We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient…

Two mobile agents (robots) have to meet in an a priori unknown bounded terrain modeled as a polygon, possibly with polygonal obstacles. Agents are modeled as points, and each of them is equipped with a compass. Compasses of agents may be…