相关论文: Decentralized Connectivity-Preserving Deployment o…
We present a system to coordinate 'urban mobility swarms' in order to promote the use and safety of lightweight, sustainable transit, while enhancing the vibrancy and community fabric of cities. This work draws from behavior exhibited by…
A robotic network is a system with multiple robots connected by a communication network. Certain tasks that cannot be accomplished with available robotic resources are candidates for the use of cloud robotics, which overcomes the…
Effective communication is key to successful, decentralized, multi-robot path planning. Yet, it is far from obvious what information is crucial to the task at hand, and how and when it must be shared among robots. To side-step these issues…
The problem of decentralized multi-robot patrol has previously been approached primarily with hand-designed strategies for minimization of 'idlenes' over the vertices of a graph-structured environment. Here we present two lightweight neural…
This paper investigates decentralized shepherding in cluttered environments, where a limited number of herders must guide a larger group of non-cohesive, diffusive targets toward a goal region in the presence of static obstacles. A…
Robot swarms offer significant potential for inspecting diverse infrastructure, ranging from bridges to space stations. However, effective inspection requires accurate robot localization, which demands substantial computational resources…
Distributed computing has become a common practice nowadays, where the recent focus has been given to the usage of smart networking devices with in-network computing capabilities. State-of-the-art switches with near-line rate computing and…
We present a new framework for the crucial challenge of self-organization of a large sensor network. The basic scenario can be described as follows: Given a large swarm of immobile sensor nodes that have been scattered in a polygonal…
Future quantum internet relies on large-scale entanglement distribution. Quantum decoherence is a significant obstacle in large-scale networks, which otherwise perform better with multiple paths between the source and destination. We…
Individual robots are not effective at exploring large unmapped areas. An alternate approach is to use a swarm of simple robots that work together, rather than a single highly capable robot. The central-place foraging algorithm (CPFA) is…
This paper considers the problem of decentralized goal assignment and trajectory generation for multi-robot networks when only local communication is available, and proposes an approach based on methods related to switched systems and set…
Multi-object transport using multi-robot systems has the potential for diverse practical applications such as delivery services owing to its efficient individual and scalable cooperative transport. However, allocating transportation tasks…
This paper proposes a cooperative environmental learning algorithm working in a fully distributed manner. A multi-robot system is more effective for exploration tasks than a single robot, but it involves the following challenges: 1) online…
To accomplish complex swarm robotic missions in the real world, one needs to plan and execute a combination of single robot behaviors, group primitives such as task allocation, path planning, and formation control, and mission-specific…
Highly dynamic networks are characterized by frequent changes in the availability of communication links. These networks are often partitioned into several components, which split and merge unpredictably. We present a distributed algorithm…
This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…
The Freeze Tag Problem consists in waking up a swarm of robots starting with one initially awake robot. Whereas there is a wide literature of the centralized setting, where the location of the robots is known in advance, we focus in the…
In a multi-robot system, the appropriate allocation of the tasks to the individual robots is a very significant component. The availability of a centralized infrastructure can guarantee an optimal allocation of the tasks. However, in many…
In swarm robotics, decentralized control is often proposed as a more scalable and fault-tolerant alternative to centralized control. However, centralized behaviors are often faster and more efficient than their decentralized counterparts.…
Monitoring the health and vigor of grasslands is vital for informing management decisions to optimize rotational grazing in agriculture applications. To take advantage of forage resources and improve land productivity, we require knowledge…