Through a series of projects, we have been investigating multirobot navigation and coordination. Such problems arise in a range of tasks including search-rescue operations, construction, industrial applications, surveillance, team games, exploration and unmanned vehicles.

**Isomorphic Adjacency:** In many multirobot tasks, the goal is to realize a given planar topology. If all the robots are identical, then we have shown the problem can be expressed as finding an isomorphic adjacency matrix. We have then presented a new approach to solving the resulting combinatorial problem as consisting of two stages.

*D. Şenel, H. I. Bozma, and F. Öztürk, “Finding optimal isomorphic goal adjacency,” in 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, pp. 4650-4655. *

For more info, pls contact Deniz Şenel.

**Coordinated realization:** Coordinated realization arises when the robots are required to move to a set of positions that are specified by their relative positions only. In this project, our goal is to develop a systematic approach than enables coordinated realization.

**Coordinated navigation: ** Coordinated navigation arises when the robots are required to move to given local locations. We have constructed an essential navigation function that guarantees collision-free motion of each robot to its destination from almost all initial free placements.

*S. C. Karagoz, H. I. Bozma, and D. E. Koditschek, “Coordinated navigation of multiple independent disk-shaped robots,” IEEE Transactions on Robotics, vol. 30, iss. 6, pp. 1289-1304, 2014. *