相关论文: Space and Move-optimal Arbitrary Pattern Formation…
We present a novel framework for addressing the challenges of multi-Agent planning and formation control within intricate and dynamic environments. This framework transforms the Multi-Agent Path Finding (MAPF) problem into a Multi-Agent…
In this paper we study paramertized motion planning algorithms which provide universal and flexible solutions to diverse motion planning problems. Such algorithms are intended to function under a variety of external conditions which are…
Leader election and arbitrary pattern formation are funda- mental tasks for a set of autonomous mobile robots. The former consists in distinguishing a unique robot, called the leader. The latter aims in arranging the robots in the plane to…
Swarms evolving from collective behaviors among multiple individuals are commonly seen in nature, which enables biological systems to exhibit more efficient and robust collaboration. Creating similar swarm intelligence in engineered robots…
We propose a multi-robot control paradigm to solve point-to-point navigation tasks for a team of holonomic robots with access to the full environment information. The framework invokes two processes asynchronously at high frequency: (i) a…
The limited energy capacity of individual robotic agents in a swarm often limits the possible cooperative tasks they can perform. In this work, we investigate the problem of covering an unknown connected grid environment (e.g. a maze or…
Space robots have played a critical role in autonomous maintenance and space junk removal. Multi-arm space robots can efficiently complete the target capture and base reorientation tasks due to their flexibility and the collaborative…
Most existing methods for motion planning of mobile robots involve generating collision-free trajectories. However, these methods focusing solely on contact avoidance may limit the robots' locomotion and can not be applied to tasks where…
Despite their growing popularity, swarms of robots remain limited by the operating time of each individual. We present algorithms which allow a human to sculpt a swarm of robots into a shape that persists in space perpetually, independent…
In this paper, we address the shape formation problem for massive robot swarms in environments where external localization systems are unavailable. Achieving this task effectively with solely onboard measurements is still scarcely explored…
We study an elementary problem of the topological robotics: collective motion of a set of $n$ distinct particles which one has to move from an initial configuration to a final configuration, with the requirement that no collisions occur in…
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…
Motion planning is challenging for multiple robots in cluttered environments without communication, especially in view of real-time efficiency, motion safety, distributed computation, and trajectory optimality, etc. In this paper, a…
This study presents a systematic enumeration of spherical ($SO(3)$) type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point,…
Coordinated multi-robot navigation is essential for robots to operate as a team in diverse environments. During navigation, robot teams usually need to maintain specific formations, such as circular formations to protect human teammates at…
This paper addresses the problem of Uniform Circle Formation by n > 1 transparent disc robots (fat robots). The robots execute repetitive cycles of the states look-compute-move in semi-synchronous manner where a set of robots execute the…
This paper presents a novel methodology that allows a swarm of robots to perform a cooperative transportation task. Our approach consists of modeling the swarm as a {\em Gibbs Random Field} (GRF), taking advantage of this framework's…
In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and…
In the context of autonomous robots, one of the most important tasks is to prevent potential damage to the robot during navigation. For this purpose, it is often assumed that one must deal with known probabilistic obstacles, then compute…
Path planning is a fundamental component in autonomous mobile robotics, enabling a robot to navigate from its current location to a desired goal while avoiding obstacles. Among the various techniques, Artificial Potential Field (APF)…