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Achieving large-scale aerial swarms is challenging due to the inherent contradictions in balancing computational efficiency and scalability. This paper introduces Primitive-Swarm, an ultra-lightweight and scalable planner designed…

This paper studies the gathering problem for a set of $N \ge 2$ autonomous mobile robots operating in the Euclidean plane under the distributed Look-Compute-Move model. We consider oblivious robots executing under the adversarial defected…

Autonomous safe navigation in unstructured and novel environments poses significant challenges, especially when environment information can only be provided through low-cost vision sensors. Although safe reactive approaches have been…

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…

Phase-shifting profilometry (PSP) enables high-accuracy 3D reconstruction but remains highly susceptible to object motion. Although numerous studies have explored compensation for motion-induced errors, residual inaccuracies still persist,…

This work addresses the path planning problem for a group of unmanned aerial vehicles (UAVs) to maintain a desired formation during operation. Our approach formulates the problem as an optimization task by defining a set of fitness…

The modern power grid is witnessing a shift in operations from traditional control methods to more advanced operational mechanisms. Due to the nonconvex nature of the Alternating Current Optimal Power Flow (ACOPF) problem and the need for…

Collision avoidance is one of the most important topics in the robotics field. The goal is to move the robots from initial locations to target locations such that they follow shortest non-colliding paths in the shortest time and with the…

The main aim of this paper is to solve a path planning problem for an autonomous mobile robot in static and dynamic environments. The problem is solved by determining the collision-free path that satisfies the chosen criteria for shortest…

We consider the fundamental benchmarking problem of gathering in an $(N,f)$-fault system consisting of $N$ robots, of which at most $f$ might fail at any execution, under asynchrony. Two seminal results established impossibility of a…

We investigate the terminating grid exploration for autonomous myopic luminous robots. Myopic robots mean that they can observe nodes only within a certain fixed distance, and luminous robots mean that they have light devices that can emit…

In this paper, we propose a method to avoid "no-solution" situations of the control barrier function (CBF) for distributed collision avoidance in a multiagent autonomous robotic system (MARS). MARS, which is composed of distributed…

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…

With the rapid development of robot swarm technology and its diverse applications, navigating robot swarms through complex environments has emerged as a critical research direction. To ensure safe navigation and avoid potential collisions…

Robotic applications across industries demand advanced navigation for safe and smooth movement. Smooth path planning is crucial for mobile robots to ensure stable and efficient navigation, as it minimizes jerky movements and enhances…

We consider problems in which a mobile robot samples an unknown function defined over its operating space, so as to find a global optimum of this function. The path traveled by the robot matters, since it influences energy and time…

We propose an online iterative algorithm to optimize a convex cover to under-approximate the free space for autonomous navigation to delineate Safe Flight Corridors (SFC). The convex cover consists of a set of polytopes such that the union…

Alternative current optimal power flow (ACOPF) problems have been studied for over fifty years, and yet the development of an optimal algorithm to solve them remains a hot and challenging topic for researchers because of their nonlinear and…

The optimal power flow (OPF) problem, which plays a central role in operating electrical networks is considered. The problem is nonconvex and is in fact NP hard. Therefore, designing efficient algorithms of practical relevance is crucial,…

Multi-Agent Path Finding (MAPF) is NP-hard to solve optimally, even on graphs, suggesting no polynomial-time algorithms can compute exact optimal solutions for them. This raises a natural question: How optimal can polynomial-time algorithms…