相关论文: Optimal Uniform Circle Formation by Asynchronous L…

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…

We propose a new probabilistic pattern formation algorithm for oblivious mobile robots that operates inthe ASYNC model. Unlike previous work, our algorithm makes no assumptions about the local coordinatesystems of robots (the robots do not…

We consider the problem of designing uniformly stable first-order optimization algorithms for empirical risk minimization. Uniform stability is often used to obtain generalization error bounds for optimization algorithms, and we are…

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…

In this paper, we introduce an algorithm designed to address the problem of time-optimal formation reshaping in three-dimensional environments while preventing collisions between agents. The utility of the proposed approach is particularly…

Connected and autonomous vehicles (CAVs), unlike conventional cars, will utilise the whole space of intersections and cross in a lane-free order. This paper formulates such a lane-free crossing of intersections as a multi-objective optimal…

We present $O(\log\log n)$ round scalable Massively Parallel Computation algorithms for maximal independent set and maximal matching, in trees and more generally graphs of bounded arboricity, as well as for constant coloring trees.…

This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…

In the general pattern formation (GPF) problem, a swarm of simple autonomous, disoriented robots must form a given pattern. The robots' simplicity imply a strong limitation: When the initial configuration is rotationally symmetric, only…

Autonomous driving at intersections is one of the most complicated and accident-prone traffic scenarios, especially with mixed traffic participants such as vehicles, bicycles and pedestrians. The driving policy should make safe decisions to…

In this paper, we address the problem of collision avoidance for a swarm of UAVs used for continuous surveillance of an urban environment. Our method, LSwarm, efficiently avoids collisions with static obstacles, dynamic obstacles and other…

We propose a self-contained, resilient and fully distributed solution for locating the maximum of an unknown scalar field using a swarm of robots that travel at a constant speed. Unlike conventional reactive methods relying on gradient…

A mobile robot system consists of anonymous mobile robots, each of which autonomously performs sensing, computation, and movement according to a common algorithm, so that the robots collectively achieve a given task. There are two main…

The paper presents a strategy for robotic exploration problem using Space-Filling curves (SFC). The strategy plans a path that avoids unknown obstacles while ensuring complete coverage of the free space in region of interest. The region of…

To operate reactively in uncertain environments, robots need to be able to quickly estimate the risk that they will collide with their environment. This ability is important for both planning (to ensure that plans maintain acceptable levels…

Many practical applications of robotics require systems that can operate safely despite uncertainty. In the context of motion planning, two types of uncertainty are particularly important when planning safe robot trajectories. The first is…

We investigate autonomous mobile robots in the Euclidean plane. A robot has a function called target function to decide the destination from the robots' positions. Robots may have different target functions. If the robots whose target…

We present a novel, decentralized collision avoidance algorithm for navigating a swarm of quadrotors in dense environments populated with static and dynamic obstacles. Our algorithm relies on the concept of Optimal Reciprocal…

This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…

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…