相关论文: Gathering in Vertex- and Edge-Transitive Graphs wi…

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…

In this paper, we consider the partial gathering problem of mobile agents in asynchronous unidirectional rings equipped with whiteboards on nodes. The partial gathering problem is a new generalization of the total gathering problem. The…

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…

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…

A graph environment must be explored by a collection of mobile robots. Some of the robots, a priori unknown, may turn out to be unreliable. The graph is weighted and each node is assigned a deadline. The exploration is successful if each…

In this paper we study multi robot cooperative task allocation issue in a situation where a swarm of robots is deployed in a confined unknown environment where the number of colored spots which represent tasks and the ratios of them are…

We present a unified formal framework for expressing mobile robots models, protocols, and proofs, and devise a protocol design/proof methodology dedicated to mobile robots that takes advantage of this formal framework. As a case study, we…

Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…

In the dispersion problem, a set of $k$ co-located mobile robots must relocate themselves in distinct nodes of an unknown network. The network is modeled as an anonymous graph $G=(V,E)$, where the nodes of the graph are not labeled. The…

Distributed gathering algorithms aim to achieve complete visibility graphs via a "never lose a neighbour" policy. We suggest a method to maintain connected graph topologies, while reducing the number of effective edges in the graph to order…

Systems of networked mobile robots, such as unmanned aerial or ground vehicles, will play important roles in future military and commercial applications. The communications for such systems will typically be over wireless links and may…

A metamorphic robotic system (MRS) consists of anonymous modules, each of which autonomously moves in the 2D square grid by sliding and rotation with keeping connectivity among the modules. Existing literature considers distributed…

This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…

This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…

An autonomous mobile robot system is a distributed system consisting of mobile computational entities (called robots) that autonomously and repeatedly perform three operations: Look, Compute, and Move. Various problems related to autonomous…

The vast majority of existing Distributed Computing literature about mobile robotic swarms considers computability issues: characterizing the set of system hypotheses that enables problem solvability. By contrast, the focus of this work is…

We present experimental results on the single file motion of a group of robots interacting with each other through position sensors. We successfully replicate the fundamental diagram typical of these systems, with a transition from free…

Path planning for multiple tethered robots is a challenging problem due to the complex interactions among the cables and the possibility of severe entanglements. Previous works on this problem either consider idealistic cable models or…

The graph identification problem consists of discovering the interactions among nodes in a network given their state/feature trajectories. This problem is challenging because the behavior of a node is coupled to all the other nodes by the…

Consider a set of $n$ simple autonomous mobile robots (asynchronous, no common coordinate system, no identities, no central coordination, no direct communication, no memory of the past, non-rigid, deterministic) initially in distinct…