相关论文: Uniform Circle Formation By Oblivious Swarm Robots

We consider a distributed system consisting of autonomous mobile computing entities, called robots, moving in a specified space. The robots are anonymous, oblivious, and have neither any access to the global coordinate system nor any…

Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…

We present a method for the control of robot swarms using two subsets of robots: a larger group of simple, oblivious robots (which we call the workers) that is governed by simple local attraction forces, and a smaller group (the guides)…

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…

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…

Shape formation is a basic distributed problem for systems of computational mobile entities. Intensively studied for systems of autonomous mobile robots, it has recently been investigated in the realm of programmable matter. Namely, it has…

Multi-robot formation control enables robots to cooperate as a working group in completing complex tasks, which has been widely used in both civilian and military scenarios. Before moving to reach a given formation, each robot should choose…

This paper presents a distributed painting algorithm for painting a priori known rectangular region by swarm of autonomous mobile robots. We assume that the region is obstacle free and of rectangular in shape. The basic approach is to…

Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…

The movement of cooperative robots in a densely cluttered environment may not be possible if the formation type is invariant. Hence, we investigate a new method for time-varying formation control for a group of heterogeneous autonomous…

In this paper, we consider the gathering problem of seven autonomous mobile robots on triangular grids. The gathering problem requires that, starting from any connected initial configuration where a subgraph induced by all robot nodes…

We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…

This paper proposes a strategy for a group of deaf and dumb robots, carrying clocks from different countries, to meet at a geographical location which is not fixed in advanced. The robots act independently. They can observe others, compute…

This paper tackles the distributed leader-follower (L-F) control problem for heterogeneous mobile robots in unknown environments requiring obstacle avoidance, inter-robot collision avoidance, and reliable robot communications. To prevent an…

Robots in our daily surroundings are increasing day by day. Their usability and acceptability largely depend on their explicit and implicit interaction capability with fellow human beings. As a result, social behavior is one of the most…

We consider a team of $k$ identical, oblivious, asynchronous mobile robots that are able to sense (\emph{i.e.}, view) their environment, yet are unable to communicate, and evolve on a constrained path. Previous results in this weak scenario…

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…

We consider a variant of the crash-fault gathering problem called stand-up indulgent gathering (SUIG). In this problem, a group of mobile robots must eventually gather at a single location, which is not known in advance. If no robots crash,…

We consider a swarm of mobile robots evolving in a bidimensional Euclidean space. We study a variant of the crash-tolerant gathering problem: if no robot crashes, robots have to meet at the same arbitrary location, not known beforehand, in…

We propose a self-contained, resilient and fully distributed solution for locating the maximum of an unknown scalar field using a swarm of robots that travel at a constant speed. Unlike conventional reactive methods relying on gradient…