10 accepted papers
During the execution of Multi-Agent Path Finding (MAPF) plans in real-life applications, the MAPF assumption that the fleet's movement is perfectly synchronized does not apply. Since some of the agents may become delayed due to internal or external factors, it is often necessary to use a robust exec…
Multi-Agent Path Finding (MAPF) is a problem of finding collision-free paths for a group of agents in a shared discrete environment. The agents often need to wait in place for one or more discrete time steps to avoid each other, and they frequently have multiple locations where they can wait. While
This letter explores a variation of the Traveling Salesperson Problem, where the agent places a circular obstacle next to each node once it visits it. Referred to as the Traveling Salesperson Problem with Circle Placement (TSP-CP), the aim is to maximize the obstacle radius for which a valid closed
Honeybees are one of the most important pollinators in the ecosystem. Unfortunately, the dynamics of living honeybee colonies are not well understood due to their complexity and difficulty of observation. In our project “RoboRoyale”, we build and operate a robot to be a part of a bio-hybrid system,…
Visibility is a fundamental concept in computational geometry, with numerous applications in surveillance, robotics, and games. This software paper presents TřiVis, a C++ library developed by the authors for computing numerous visibility-related queries in highly complex polygonal environments. Adap…
Widespread demand for mobile robots is pushing the research envelope for the development of new robot driving mechanisms that can handle diverse environments. Bristle-bot-like robot designs, investigated increasingly over the past decade, are based on vibration mechanisms built on flexible legs that
The emerging field of passive macro-scale tile-based self-assembly (TBSA) shows promise in enabling effective manufacturing processes by harnessing TBSA's intrinsic parallelism. However, current TBSA methodologies still do not fulfill their potentials, largely because such assemblies are often prone
A new heuristic solution framework is proposed to address the challenging <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">watchman route problem</i> (WRP) in a polygonal domain, which can be viewed as an offline version of the robot exploration task.
The combined efforts of theoretical computer science, biochemistry, and nanotechnology have enabled the design of tile-based systems capable of self-assembling intricate patterns in a massively parallel manner, with low error rates, and applications ranging from DNA computing to microelectronics. Ho
We present a novel approach to mobile robot search for non-stationary objects in partially known environments. We formulate the search as a path planning problem in an environment where the probability of object occurrences at particular locations is a function of time. We propose to explicitly mode…