相关论文: Collaborative Dispersion by Silent Robots

This paper presents a distributed, optimal, communication-aware trajectory planning algorithm for multi-robot systems. Building on prior work, it addresses the multi-robot communication-aware trajectory planning problem using a general…

The gathering over meeting nodes problem requires the robots to gather at one of the pre-defined meeting nodes. This paper investigates the problem with respect to the objective function that minimizes the total number of moves made by all…

This paper addresses the problem of detecting possible intruders in a group of autonomous robots, which coexist in a shared environment and interact with each other according to a set of "social behaviors", or common rules. Such rules…

In many robotics problems, there is a significant gain in collaborative information sharing between multiple robots, for exploration, search and rescue, tracking multiple targets, or mapping large environments. One of the key implicit…

Distance-2-Dispersion (D-2-D) problem aims to disperse $k$ mobile agents starting from an arbitrary initial configuration on an anonymous port-labeled graph $G$ with $n$ nodes such that no two agents occupy adjacent nodes in the final…

An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…

We present DisCo, a distributed algorithm for contact-rich, multi-robot tasks. DisCo is a distributed contact-implicit trajectory optimization algorithm, which allows a group of robots to optimize a time sequence of forces to objects and to…

Distributed localization is essential in many robotic collective tasks such as shape formation and self-assembly.Inspired by the statistical mechanics of energy transition, this paper presents a fully distributed localization algorithm…

Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The…

Gathering is a fundamental coordination problem in swarm robotics, where the objective is to bring robots together at a point not known to them at the beginning. While most research focuses on continuous domains, some studies also examine…

We consider a distributed system of n identical mobile robots operating in the two dimensional Euclidian plane. As in the previous studies, we consider the robots to be anonymous, oblivious, dis-oriented, and without any communication…

In densely-packed robot swarms operating in confined regions, spatial interference -- which manifests itself as a competition for physical space -- forces robots to spend more time navigating around each other rather than performing the…

The OBLOT model has been extensively studied in theoretical swarm robotics. It assumes weak capabilities for the involved mobile robots, such as they are anonymous, disoriented, no memory of past events (oblivious), and silent. Their only…

This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…

In the distributed localization problem (DLP), $n$ anonymous robots (agents) $a_0, a_1, ..., a_{n-1}$ begin at arbitrary positions $p_0, ..., p_{n-1}$ in $S$, where $S$ is an Euclidean space. The primary goal in DLP is for agents to reach a…

We study a fundamental cooperative message-delivery problem on the plane. Assume $n$ robots which can move in any direction, are placed arbitrarily on the plane. Robots each have their own maximum speed and can communicate with each other…

We consider a robotic vehicle tasked with gathering information by visiting a set of spatially-distributed data sources, the locations of which are not known a priori, but are discovered on the fly. We assume a first-order robot dynamics…

In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…

We aim to connect two problems, namely, dispersion and load balancing. Both problems have already been studied over static as well as dynamic graphs. Though dispersion and load balancing share some common features, the tools used in solving…

We present a randomized distributed algorithm that in radio networks with collision detection broadcasts a single message in $O(D + \log^6 n)$ rounds, with high probability. This time complexity is most interesting because of its optimal…