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Recent work in the field of bio-inspired robotic systems has introduced designs for modular robots that are able to assemble into structures (e.g., bridges, landing platforms, fences) using their bodies as the building components. Yet, it remains an open question as to how to program large swarms of robotic modules so that the assembly task is performed as efficiently as possible. Moreover, the problem...
We address the development of the theory and algorithms that can enable a swarm of inexpensive robots or mobile sensors to create topological maps of unknown environments without explicitly requiring metric information. Topological maps are sparse and faithful representations of environments, and are useful constructions for efficient navigation in GPS-denied environments. However, in the absence...
An algorithm was developed for the formation flight of a team of fixed-wing aircraft to follow a desired trajectory described in terms of given waypoints. In-flight formation change can be commanded at set points along the trajectory or on demand. The algorithm makes use of the Hungarian algorithm for formation position assignment in a local tangent coordinate system. Trajectories of the aircraft...
We consider the problem of deploying a swarm of mobile robots into an unknown environment for attaining complete sensor coverage of the environment. The robots have limited and noisy sensing capabilities and no metric or global information available to them. Using tools from algebraic topology, we formally describe the sensor coverage as a simplicial complex, deploy robots through the complex using...
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