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In collective systems, the available agents are a limited resource that must be allocated among tasks to maximize collective performance. Computing the optimal allocation of several agents to numerous tasks through a brute-force approach…

When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…

The success of modern parallel paradigms such as MapReduce, Hadoop, or Spark, has attracted a significant attention to the Massively Parallel Computation (MPC) model over the past few years, especially on graph problems. In this work, we…

Recent empirical observations of three-dimensional bird flocks and human crowds have challenged the long-prevailing assumption that a metric interaction distance rules swarming behaviors. In some cases, individual agents are found to be…

In the field of swarm robotics, one of the most studied problem is Gathering. It asks for a distributed algorithm that brings the robots to a common location, not known in advance. We consider the case of robots constrained to move along…

A team consisting of an unknown number of mobile agents, starting from different nodes of an unknown network, have to meet at the same node and terminate. This problem is known as {\em gathering}. We study deterministic gathering algorithms…

We study the Monotone Sliding Reconfiguration (MSR) problem, in which $\textit{labeled}$ pairwise interior-disjoint objects in a planar workspace need to be brought $\textit{one by one}$ from their initial positions to given target…

Memetic Algorithms are known to be a powerful technique in solving hard optimization problems. To design a memetic algorithm one needs to make a host of decisions; selecting a population size is one of the most important among them. Most…

This paper considers a discrete time swarm model of a group of mobile autonomous agents with a simple attraction and repulsion function for swarm aggregation and investigates its stability properties. In particular, it is proved that the…

Motivated by the problem of scheduling electric vehicle (EV) charging with a minimum charging threshold in smart distribution grids, we introduce the resource allocation problem (RAP) with a symmetric separable convex objective function and…

In various areas of computer science, the problem of dealing with a set of constraints arises. If the set of constraints is unsatisfiable, one may ask for a minimal description of the reason for this unsatisifi- ability. Minimal…

The cohesive collective motion (flocking, swarming) of autonomous agents is ubiquitously observed and exploited in both natural and man-made settings, thus, minimal models for its description are essential. In a model with continuous space…

We study the limits of linear modeling of swarm behavior by characterizing the inflection point beyond which linear models of swarm collective behavior break down. The problem we consider is a central place object gathering task. We design…

We consider the problem of finding patrol schedules for $k$ robots to visit a given set of $n$ sites in a metric space. Each robot has the same maximum speed and the goal is to minimize the weighted maximum latency of any site, where the…

We present the problem of finding a maximal independent set (MIS) (named as \emph{MIS Filling problem}) of an arbitrary connected graph having $n$ vertices with luminous myopic mobile robots. The robots enter the graph one after another…

The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for…

This paper addresses the task allocation problem for multi-robot systems. The main issue with the task allocation problem is inherent complexity that makes finding an optimal solution within a reasonable time almost impossible. To hand the…

In the stabilizing consensus problem, each agent of a networked system has an input value and is repeatedly writing an output value; it is required that eventually all the output values stabilize to the same value which, moreover, must be…

We present an algorithm that ensures in finite time the gathering of two robots in the non-rigid ASYNC model. To circumvent established impossibility results, we assume robots are equipped with 2-colors lights and are able to measure…

We revisit the problem of finding a minimum enclosing ball with differential privacy: Given a set of $n$ points in the Euclidean space $\mathbb{R}^d$ and an integer $t\leq n$, the goal is to find a ball of the smallest radius $r_{opt}$…