相关论文: Uniform Circle Formation By Oblivious Swarm Robots
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…
Two fundamental problems of distributed computing are Gathering and Arbitrary pattern formation (\textsc{Apf}). These two tasks are different in nature as in gathering robots meet at a point but in \textsc{Apf} robots form a fixed pattern…
In the existing literature of the Mutual Visibility problem for autonomous robot swarms, the adopted visibility models have some idealistic assumptions that are not consistent with practical sensing device implementations. This paper…
Given a set of $n\geq 1$ unit disk robots in the Euclidean plane, we consider the Pattern Formation problem, i.e., the robots must reposition themselves to form a given target pattern. This problem arises under obstructed visibility, where…
In this work we consider the problem of gathering autonomous robots in the plane. In particular, we consider non-transparent unit-disc robots (i.e., fat) in an asynchronous setting. Vision is the only mean of coordination. Using a…
Given a set of $n\geq 1$ unit disk robots in the Euclidean plane, we consider the fundamental problem of providing mutual visibility to them: the robots must reposition themselves to reach a configuration where they all see each other. This…
In this paper, we consider the problem of formation of a series of geometric patterns [4] by a network of oblivious mobile robots that communicate only through vision. So far, the problem has been studied in models where robots are either…
In this work, we explore emergent behaviors by swarms of anonymous, homogeneous, non-communicating, reactive robots that do not know their global position and have limited relative sensing. We introduce a novel method that enables such…
In this paper we study the Near-Gathering problem for a finite set of dimensionless, deterministic, asynchronous, anonymous, oblivious and autonomous mobile robots with limited visibility moving in the Euclidean plane in Look-Compute-Move…
This paper introduces a distributed leaderless swarm formation control framework to address the problem of collectively driving a swarm of robots to track a time-varying formation. The swarm's formation is captured by the trajectory of an…
The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…
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…
Swarm robotics utilises decentralised self-organising systems to form complex collective behaviours built from the bottom-up using individuals that have limited capabilities. Previous work has shown that simple occlusion-based strategies…
We consider n robots with limited visibility: each robot can observe other robots only up to a constant distance denoted as the viewing range. The robots operate in discrete rounds that are either fully synchronous (FSync) or…
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…
The Gathering problem for a swarm of robots asks for a distributed algorithm that brings such entities to a common place, not known in advance. We consider the well-known OBLOT model with robots constrained to move along the edges of a…
We present a deep reinforcement learning-based framework for automatically discovering patterns available in any given initial configuration of fat robot swarms. In particular, we model the problem of collision-less gathering and mutual…
Arbitrary pattern formation ($\mathcal{APF}$) by mobile robots is studied by many in literature under different conditions and environment. Recently it has been studied on an infinite grid network but with full visibility. In opaque robot…
The exploration problem in the discrete universe, using identical oblivious asynchronous robots without direct communication, has been well investigated. These robots have sensors that allow them to see their environment and move…
Given a set of co-located mobile robots in an unknown anonymous graph, the robots must relocate themselves in distinct graph nodes to solve the dispersion problem. In this paper, we consider the dispersion problem for silent robots…