5 citations · 6 across the 9 of their papers we have counts for
10 papers
Connectivity Preservation and Graph Stretching in Range-Only Swarm Dispersion
Ariel Barel
We study connectivity-preserving finite-jump dispersion of anonymous, identical, and oblivious agents under an idealized range-only sensing model. Each agent measures only the dist…
Distributed and Decentralized Control and Task Allocation for Flexible Swarms
Yigal Koifman, Ariel Barel, Alfred M. Bruckstein
This paper introduces a novel bio-mimetic approach for distributed control of robotic swarms, inspired by the collective behaviors of swarms in nature such as schools of fish and f…
Learning to Explore Indoor Environments using Autonomous Micro Aerial Vehicles
Yuezhan Tao, Eran Iceland, Beiming Li +7
In this paper, we address the challenge of exploring unknown indoor aerial environments using autonomous aerial robots with Size Weight and Power (SWaP) constraints. The SWaP const…
Multi-Agent Distributed and Decentralized Geometric Task Allocation
Michael Amir, Yigal Koifman, Yakov Bloch +2
We consider the general problem of geometric task allocation, wherein a large, decentralised swarm of simple mobile agents must detect the locations of tasks in the plane and posit…
Integrating Deep Reinforcement and Supervised Learning to Expedite Indoor Mapping
Elchanan Zwecher, Eran Iceland, Sean R. Levy +3
The challenge of mapping indoor environments is addressed. Typical heuristic algorithms for solving the motion planning problem are frontier-based methods, that are especially effe…
Deep-Learning-Aided Path Planning and Map Construction for Expediting Indoor Mapping
Elchanan Zwecher, Eran Iceland, Shmuel Y. Hayoun +3
The problem of autonomous indoor mapping is addressed. The goal is to minimize the time to achieve a predefined percentage of exposure with some desired level of certainty. The use…
Local Interactions for Cohesive Flexible Swarms
Rotem Manor, Ariel Barel, Alfred M. Bruckstein
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…
COME TOGETHER: Multi-Agent Geometric Consensus (Gathering, Rendezvous, Clustering, Aggregation)
Ariel Barel, Rotem Manor, Alfred M. Bruckstein
This report surveys results on distributed systems comprising mobile agents that are identical and anonymous, oblivious and interact solely by adjusting their motion according to t…
On Steering Swarms
Ariel Barel, Rotem Manor, Alfred M. Bruckstein
The main contribution of this paper is a novel method allowing an external observer/controller to steer and guide swarms of identical and indistinguishable agents, in spite of the…
Probabilistic Gathering Of Agents With Simple Sensors
Ariel Barel, Thomas Dagès, Rotem Manor +1
Gathering is a fundamental task for multi-agent systems and the problem has been studied under various assumptions on the sensing capabilities of mobile agents. This paper addresse…