相关论文: Forming Large Patterns with Local Robots in the OB…
We investigate gathering algorithms for asynchronous autonomous mobile robots moving in uniform ring-shaped networks. Different from most work using the Look-Compute-Move (LCM) model, we assume that robots have limited visibility and…
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…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
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…
We consider a swarm of $n$ autonomous mobile robots, distributed on a 2-dimensional grid. A basic task for such a swarm is the gathering process: All robots have to gather at one (not predefined) place. A common local model for extremely…
The design of distributed gathering and convergence algorithms for tiny robots has recently received much attention. In particular, it has been shown that convergence problems can even be solved for very weak, \emph{oblivious} robots:…
This paper introduces a distributed leaderless swarm formation control framework to address the problem of collectively driving a swarm of robots to track a time-varying formation. The swarm's formation is captured by the trajectory of an…
We study computationally-hard fundamental motion planning problems where the goal is to translate $k$ axis-aligned rectangular robots from their initial positions to their final positions without collision, and with the minimum number of…
In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior…
We envision programmable matter as a system of nano-scale agents (called particles) with very limited computational capabilities that move and compute collectively to achieve a desired goal. We use the geometric amoebot model as our…
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 exploration problem in the discrete universe, using identical oblivious asynchronous robots without direct communication, has been well investigated. These robots have sensors that allow them to see their environment and move…
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…
Constraining motion to a flat surface is a fundamental requirement for equipment across science and engineering. Modern precision robotic motion systems, such as gantries, rely on the flatness of components, including guide rails and…
This paper studies the problem of controlling a multi-robot system to achieve a polygon formation in a self-organized manner. Different from the typical formation control strategies where robots are steered to satisfy the predefined control…
Gathering mobile robots is a widely studied problem in robotic research. This survey first introduces the related work, summarizing models and results. Then, the focus shifts on the open problem of gathering fat robots. In this context,…
We study the \textit{min-sum uniform coverage} problem for a swarm of $n$ mobile robots on a given finite line segment and on a circle having finite positive radius, where the circle is given as an input. The robots must coordinate their…
We consider a swarm of $n$ robots in \mathbb{R}^d. The robots are oblivious, disoriented (no common coordinate system/compass), and have limited visibility (observe other robots up to a constant distance). The basic formation task gathering…
The study of computing in presence of faulty robots in the Look-Compute-Move model has been the object of extensive investigation, typically with the goal of designing algorithms tolerant to as many faults as possible. In this paper, we…
For robots to be able to manipulate in unknown and unstructured environments the robot should be capable of operating under partial observability of the environment. Object occlusions and unmodeled environments are some of the factors that…