相关论文: Solvability of Mazes by Blind Robots

Navigating autonomous robots through dense forests and rugged terrains is especially daunting when exteroceptive sensors -- such as cameras and LiDAR sensors -- fail under occlusions, low-light conditions, or sensor noise. We present…

This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…

Robots will bring search and rescue (SaR) in disaster response to another level, in case they can autonomously take over dangerous SaR tasks from humans. A main challenge for autonomous SaR robots is to safely navigate in cluttered…

Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The…

We investigate the algorithmic problems of the {\it homophyly phenomenon} in networks. Given an undirected graph $G = (V, E)$ and a vertex coloring $c \colon V \rightarrow {1, 2, ..., k}$ of $G$, we say that a vertex $v\in V$ is {\it happy}…

Machine learning and data mining algorithms have been increasingly used recently to support decision-making systems in many areas of high societal importance such as healthcare, education, or security. While being very efficient in their…

We present a centralized algorithm for labeled, disk-shaped Multi-Robot Path Planning (MPP) in a continuous planar workspace with polygonal boundaries. Our method automatically transform the continuous problem into a discrete, graph-based…

We consider the problem of learning the weighted edges of a balanced mixture of two undirected graphs from epidemic cascades. While mixture models are popular modeling tools, algorithmic development with rigorous guarantees has lagged.…

The advancement of robotics and autonomous navigation systems hinges on the ability to accurately predict terrain traversability. Traditional methods for generating datasets to train these prediction models often involve putting robots into…

We consider the problem of completely covering an unknown discrete environment with a swarm of asynchronous, frequently-crashing autonomous mobile robots. We represent the environment by a discrete graph, and task the robots with occupying…

While today's robots are able to perform sophisticated tasks, they can only act on objects they have been trained to recognize. This is a severe limitation: any robot will inevitably see new objects in unconstrained settings, and thus will…

A deterministic finite automaton in which every non-empty set of states occurs as the image of the whole state set under the action of a suitable input word is called completely reachable. We characterize such automata in terms of graphs…

In the Coloured Clustering problem, we wish to colour vertices of an edge coloured graph to produce as many stable edges as possible, i.e., edges with the same colour as their ends. In this paper, we reveal that the problem is in fact a…

The locality of a graph problem is the smallest distance $T$ such that each node can choose its own part of the solution based on its radius-$T$ neighborhood. In many settings, a graph problem can be solved efficiently with a distributed or…

We study solution discovery, where the goal is to obtain a feasible solution to a problem from an initial configuration by a bounded sequence of local moves. In many applications, however, the graph that defines which vertex sets are…

We implement and evaluate different methods for the reconfiguration of a connected arrangement of tiles into a desired target shape, using a single active robot that can move along the tile structure. This robot can pick up, carry, or drop…

We consider two mobile oblivious robots that evolve in a continuous Euclidean space. We require the two robots to solve the rendezvous problem (meeting in finite time at the same location, not known beforehand) despite the possibility that…

While the history of machine learning so far largely encompasses a series of problems posed by researchers and algorithms that learn their solutions, an important question is whether the problems themselves can be generated by the algorithm…

In this paper, we study the back-end of simultaneous localization and mapping (SLAM) problem in deforming environment, where robot localizes itself and tracks multiple non-rigid soft surface using its onboard sensor measurements. An…

Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for…