相关论文: Time Optimal Gathering of Myopic Robots on an Infi…
Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent…
Most existing robot formation problems seek a target formation of a certain \emph{minimal} and, thus, efficient structure. Examples include the Gathering and the Chain-Formation problem. In this work, we study formation problems that try to…
Given a set of $n$ point robots inside a simple polygon $P$, the task is to move the robots from their starting positions to their target positions along their shortest paths, while the mutual visibility of these robots is preserved.…
We consider systems made of autonomous mobile robots evolving in highly dynamic discrete environment i.e., graphs where edges may appear and disappear unpredictably without any recurrence, stability, nor periodicity assumption. Robots are…
The main contribution of this paper is the proof of the convexity of the omni-directional tethered robot workspace (namely, the set of all tether-length-admissible robot configurations), as well as a set of distance-optimal tethered path…
Let $G = (V, E)$ be an $m_1 \times \ldots \times m_k$ grid. Assuming that each $v \in V$ is occupied by a robot and a robot may move to a neighboring vertex in a step via synchronized rotations along cycles of $G$, we first establish that…
In this paper, we consider the partial gathering problem of mobile agents in asynchronous unidirectional rings equipped with whiteboards on nodes. The partial gathering problem is a new generalization of the total gathering problem. The…
Decentralized control of robots has attracted huge research interests. However, some of the research used unrealistic assumptions without collision avoidance. This report focuses on the collision-free control for multiple robots in both…
Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
This paper deals with the classical problem of exploring a ring by a cohort of synchronous robots. We focus on the perpetual version of this problem in which it is required that each node of the ring is visited by a robot infinitely often.…
The gathering problem requires a set of mobile agents, arbitrarily positioned at different nodes of a network to group within finite time at the same location, not fixed in advanced. The extensive existing literature on this problem shares…
This paper addresses the autonomous robot ergodicity problem for efficient environment exploration. The spatial distribution as a reference is given by a mixture of Gaussian and the mass generation of the robot is assumed to be skinny…
In this paper, we address the problem of time-optimal coordination of mobile robots under kinodynamic constraints along specified paths. We propose a novel approach based on time discretization that leads to a mixed-integer linear…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
We study the Rendezvous problem for 2 autonomous mobile robots in asynchronous settings with persistent memory called light. It is well known that Rendezvous is impossible in a basic model when robots have no lights, even if the system is…
In this paper we study the strengths and limitations of collaborative teams of simple agents. In particular, we discuss the efficient use of "ant robots" for covering a connected region on the Z^{2} grid, whose area is unknown in advance,…
Consider a group of autonomous mobile computational entities called robots. The robots move in the Euclidean plane and operate according to synchronous $Look$-$Compute$-$Move$ cycles. The computational capabilities of the robots under the…
Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…
Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reducing inter-robot conflicts. In this paper, we introduce a…