相关论文: Energy Consumption of Group Search on a Line

Two robots stand at the origin of the infinite line and are tasked with searching collaboratively for an exit at an unknown location on the line. They can travel at maximum speed $b$ and can change speed or direction at any time. The two…

Assume that two robots are located at the centre of a unit disk. Their goal is to evacuate from the disk through an exit at an unknown location on the boundary of the disk. At any time the robots can move anywhere they choose on the disk,…

We consider evacuation of a group of $n \geq 2$ autonomous mobile agents (or robots) from an unknown exit on an infinite line. The agents are initially placed at the origin of the line and can move with any speed up to the maximum speed $1$…

We revisit the linear search problem where a robot, initially placed at the origin on an infinite line, tries to locate a stationary target placed at an unknown position on the line. Unlike previous studies, in which the robot travels along…

This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between information gain and energy cost (e.g., control effort,…

In the fast evacuation problem, we study the path planning problem for two robots who want to minimize the worst-case evacuation time on the unit disk. The robots are initially placed at the center of the disk. In order to evacuate, they…

Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capabilities. It takes time for the robot to move between…

We investigate the algorithmic problem of uniformly dispersing a swarm of robots in an unknown, gridlike environment. In this setting, our goal is to study the relationships between performance metrics and robot capabilities. We introduce a…

The limited energy capacity of individual robotic agents in a swarm often limits the possible cooperative tasks they can perform. In this work, we investigate the problem of covering an unknown connected grid environment (e.g. a maze or…

Consider search on an infinite line involving an autonomous robot starting at the origin of the line and an oblivious moving target at initial distance $d \geq 1$ from it. The robot can change direction and move anywhere on the line with…

We initiate the study of a new problem on searching and fetching in a distributed environment concerning treasure-evacuation from a unit disk. A treasure and an exit are located at unknown positions on the perimeter of a disk and at known…

We introduce and study a new problem concerning the exploration of a geometric domain by mobile robots. Consider a line segment $[0,I]$ and a set of $n$ mobile robots $r_1,r_2,..., r_n$ placed at one of its endpoints. Each robot has a {\em…

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…

We study the Symmetric Rendezvous Search Problem for a multi-robot system. There are $n>2$ robots arbitrarily located on a line. Their goal is to meet somewhere on the line as quickly as possible. The robots do not know the initial location…

The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…

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…

This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…

Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…

A graph environment must be explored by a collection of mobile robots. Some of the robots, a priori unknown, may turn out to be unreliable. The graph is weighted and each node is assigned a deadline. The exploration is successful if each…

This paper aims to solve the coordination of a team of robots traversing a route in the presence of adversaries with random positions. Our goal is to minimize the overall cost of the team, which is determined by (i) the accumulated risk…