相关论文: Impossibility of Self-Organized Aggregation withou…

One of the difficulties in developing collective adaptive systems is the challenge of simultaneously engineering both the desired resilient behaviour of the collective and the details of its implementation on individual devices. Aggregate…

In this paper, we consider the problem of formation of a series of geometric patterns [4] by a network of oblivious mobile robots that communicate only through vision. So far, the problem has been studied in models where robots are either…

The traditional distributed model of autonomous, homogeneous, mobile point robots usually assumes that the robots do not create any visual obstruction for the other robots, i.e., the robots are see through. In this paper, we consider a…

This work deals with the problem of gathering $n$ oblivious mobile entities, called robots, at a point (not known beforehand) placed on an infinite triangular grid. The robots are considered to be myopic, i.e., robots have limited…

We pioneer a new future in robotic dust collection by introducing passive dust-collecting robots that, unlike their predecessors, do not require locomotion to collect dust. While previous research has exclusively focused on active…

In collective robotic systems, the automatic generation of controllers for complex tasks is still a challenging problem. Open-ended evolution of complex robot behaviors can be a possible solution whereby an intrinsic driver for pattern…

In this work, we initiate the research about the Gathering problem for robots with limited viewing range in the three-dimensional Euclidean space. In the Gathering problem, a set of initially scattered robots is required to gather at the…

We consider a distributed system consisting of autonomous mobile computing entities, called robots, moving in a specified space. The robots are anonymous, oblivious, and have neither any access to the global coordinate system nor any…

This paper investigates efficient techniques to collect and concentrate an under-actuated particle swarm despite obstacles. Concentrating a swarm of particles is of critical importance in health-care for targeted drug delivery, where…

In robot swarms operating under highly restrictive sensing and communication constraints, individuals may need to use direct physical proximity to facilitate information exchange. However, in certain task-related scenarios, this requirement…

A swarm robotic system consists of a team of robots performing cooperative tasks without any centralized coordination. In principle, swarms enable flexible and scalable solutions; however, designing individual control algorithms that can…

Distributed data aggregation is an important task, allowing the decentralized determination of meaningful global properties, that can then be used to direct the execution of other applications. The resulting values result from the…

We introduce the use of hierarchical clustering for relaxed, deterministic coordination and control of multiple robots. Traditionally an unsupervised learning method, hierarchical clustering offers a formalism for identifying and…

We consider the gathering task by a team of $m$ synchronous mobile robots in a graph of $n$ nodes. Each robot has an identifier (ID) and runs its own deterministic algorithm, i.e., there is no centralized coordinator. We consider a…

Industrial robots typically require very structured and predictable working environments, and explicit programming, in order to perform well. Therefore, expensive and time-consuming engineering work is a major obstruction when mediating…

This paper considers the problem of routing and rebalancing a shared fleet of autonomous (i.e., self-driving) vehicles providing on-demand mobility within a capacitated transportation network, where congestion might disrupt throughput. We…

Soft robots have gained significant attention due to their flexibility and safety, particularly in human-centric applications. The co-design of structure and controller in soft robotics has presented a longstanding challenge owing to the…

Consider unsupervised clustering of objects drawn from a discrete set, through the use of human intelligence available in crowdsourcing platforms. This paper defines and studies the problem of universal clustering using responses of crowd…

Building general-purpose robots to perform a diverse range of tasks in a large variety of environments in the physical world at the human level is extremely challenging. It requires the robot learning to be sample-efficient, generalizable,…

Robots existed as separate entities till now, but the horizons of a symbiotic human-robot partnership are impending. Despite all the recent technical advances in terms of hardware, robots are still not endowed with desirable relational…