相关论文: Compatibility of convergence algorithms for autono…

We consider geometric collision-detection problems for modular reconfigurable robots. Assuming the nodes (modules) are connected squares on a grid, we investigate the complexity of deciding whether collisions may occur, or can be avoided,…

Collision avoidance for multirobot systems is a well studied problem. Recently, control barrier functions (CBFs) have been proposed for synthesizing controllers guarantee collision avoidance and goal stabilization for multiple robots.…

This paper explores the problem of reaching approximate consensus in synchronous point-to-point networks, where each pair of nodes is able to communicate with each other directly and reliably. We consider the mobile Byzantine fault model…

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…

Task allocation using a team or coalition of robots is one of the most important problems in robotics, computer science, operational research, and artificial intelligence. In recent work, research has focused on handling complex objectives…

An optimization problem that naturally arises in the study of swarm robotics is the Freeze-Tag Problem (FTP) of how to awaken a set of ``asleep'' robots, by having an awakened robot move to their locations. Once a robot is awake, it can…

Animal swarms displaying a variety of typical flocking patterns would not exist without underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with…

Individual robots are not effective at exploring large unmapped areas. An alternate approach is to use a swarm of simple robots that work together, rather than a single highly capable robot. The central-place foraging algorithm (CPFA) is…

A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…

As robots play an increasingly important role in the industrial, the expectations about their applications for everyday living tasks are getting higher. Robots need to perform long-horizon tasks that consist of several sub-tasks that need…

Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots…

Recent advances in Distributed Computing highlight models and algorithms for autonomous swarms of mobile robots that self-organise and cooperate to solve global objectives. The overwhelming majority of works so far considers handmade…

This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded approach handles arbitrary structures made from rigid…

This paper revisits the widely researched \textit{gathering} problem for two robots in a scenario which allows randomization in the asynchronous scheduling model. The scheduler is considered to be the adversary which determines the…

The gathering over meeting nodes problem asks the robots to gather at one of the pre-defined meeting nodes. The robots are deployed on the nodes of an anonymous two-dimensional infinite grid which has a subset of nodes marked as meeting…

This paper investigates the boresight alignment control problem under safety constraints and performance requirements, involving pointing-forbidden constraint, attitude angular velocity limitation, and pointing accuracy requirement.…

In this paper, we propose a distributed coordinated constrained task execution (C2TE) algorithm that enables a team of vehicles from different lanes to cooperatively merge into an {\it ordering-flexible platoon} maneuvering on the desired…

Obstacle avoidance is an important task in the field of robotics, since the goal of autonomous robot is to reach the destination without collision. Several algorithms have been proposed for obstacle avoidance, having drawbacks and benefits.…

In this paper, we study the circle formation problem by multiple autonomous and homogeneous disc-shaped robots (also known as fat robots). The goal of the robots is to place themselves on the periphery of a circle. Circle formation has many…

Purpose of Review Planning collision-free paths for multiple robots is important for real-world multi-robot systems and has been studied as an optimization problem on graphs, called Multi-Agent Path Finding (MAPF). This review surveys…