相关论文: Gathering on Rings for Myopic Asynchronous Robots …

This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…

In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior…

In this work, we study the problem of dispersion of mobile robots on dynamic rings. The problem of dispersion of $n$ robots on an $n$ node graph, introduced by Augustine and Moses Jr. [1], requires robots to coordinate with each other and…

This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large…

In this paper, we study the Online Network Formation Problem (ONFP) for a mobile multi-robot system. Consider a group of robots with a bounded communication range operating in a large open area. One of the robots has a piece of information…

An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…

This paper considers the problem of routing and rebalancing a shared fleet of autonomous (i.e., self-driving) vehicles providing on-demand mobility within a capacitated transportation network, where congestion might disrupt throughput. We…

The line coverage problem involves finding efficient routes for the coverage of linear features by one or more resource-constrained robots. Linear features model environments like road networks, power lines, and oil and gas pipelines. Two…

We present a multimodal traffic light state detection using vision and sound, from the viewpoint of a quadruped robot navigating in urban settings. This is a challenging problem because of the visual occlusions and noise from robot…

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,…

The vast majority of existing Distributed Computing literature about mobile robotic swarms considers computability issues: characterizing the set of system hypotheses that enables problem solvability. By contrast, the focus of this work is…

The cohesive collective motion (flocking, swarming) of autonomous agents is ubiquitously observed and exploited in both natural and man-made settings, thus, minimal models for its description are essential. In a model with continuous space…

In autonomous and mobile robotics, a principal challenge is resilient real-time environmental perception, particularly in situations characterized by unknown and dynamic elements, as exemplified in the context of autonomous drone racing.…

In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…

In the arbitrary pattern formation problem, $n$ autonomous, mobile robots must form an arbitrary pattern $P \subseteq \mathbb{R}^2$. The (deterministic) robots are typically assumed to be indistinguishable, disoriented, and unable to…

In this paper we investigate the computational power of a set of mobile robots with limited visibility. At each iteration, a robot takes a snapshot of its surroundings, uses the snapshot to compute a destination point, and it moves toward…

Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…

For a set of robots (or agents) moving in a graph, two properties are highly desirable: confidentiality (i.e., a message between two agents must not pass through any intermediate agent) and efficiency (i.e., messages are delivered through…

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…

This paper addresses the mutual visibility problem for a set of semi-synchronous, opaque robots occupying distinct positions in the Euclidean plane. Since robots are opaque, if three robots lie on a line, the middle robot obstructs the…