Related papers: Polygon Exploration with Time-Discrete Vision
Linear optimization is many times algorithmically simpler than non-linear convex optimization. Linear optimization over matroid polytopes, matching polytopes and path polytopes are example of problems for which we have simple and efficient…
Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…
We perform structural and algorithmic studies of significantly generalized versions of the optimal perimeter guarding (OPG) problem. As compared with the original OPG where robots are uniform, in this paper, many mobile robots with…
A new era of space exploration and exploitation is fast approaching. A multitude of spacecraft will flow in the future decades under the propulsive momentum of the new space economy. Yet, the flourishing proliferation of deep-space assets…
We consider the following distributed pursuit-evasion problem. A team of mobile agents called searchers starts at an arbitrary node of an unknown $n$-node network. Their goal is to execute a search strategy that guarantees capturing a fast…
This paper presents a geometric approach to the classical isoperimetric problem by analysing the efficiency of regular polygons in enclosing maximum area for a fixed perimeter. Using efficiency metrics, it proves that regular polygons…
Local navigation is one of the fundamental problems in robot navigation, and numerous approaches have been proposed over the years, including methods such as the Dynamic Window Approach, Model Predictive Control, and more recently, Control…
We consider a spectrum of geometric optimization problems motivated by contexts such as satellite communication and astrophysics. In the problem Minimum Scan Cover with Angular Costs, we are given a graph $G$ that is embedded in Euclidean…
We present a real-time algorithm that finds the Penetration Depth (PD) between general polygonal models based on iterative and local optimization techniques. Given an in-collision configuration of an object in configuration space, we find…
Most camera lens systems are designed in isolation, separately from downstream computer vision methods. Recently, joint optimization approaches that design lenses alongside other components of the image acquisition and processing pipeline…
We study the classic problem in which a Searcher must locate a hidden point, also called the Hider in a network, starting from a root point. The network may be either bounded or unbounded, thus generalizing well-known settings such as…
This work proposes a receding horizon coverage control approach which allows multiple autonomous aerial agents to work cooperatively in order cover the total surface area of a 3D object of interest. The cooperative coverage problem which is…
This paper addresses the problem of exploring a region using the Hilbert's space-filling curve in the presence of obstacles. No prior knowledge of the region being explored is assumed. An online algorithm is proposed which can implement…
Given a convex polygon $P$ with $n$ vertices, the two-center problem is to find two congruent closed disks of minimum radius such that they completely cover $P$. We propose an algorithm for this problem in the streaming setup, where the…
Given a set of disjoint simple polygons $\sigma_1, \ldots, \sigma_n$, of total complexity $N$, consider a convexification process that repeatedly replaces a polygon by its convex hull, and any two (by now convex) polygons that intersect by…
In the Online Machine Covering problem jobs, defined by their sizes, arrive one by one and have to be assigned to $m$ parallel and identical machines, with the goal of maximizing the load of the least-loaded machine. In this work, we study…
In the classical online model, the maximum independent set problem admits an $\Omega(n)$ lower bound on the competitive ratio even for interval graphs, motivating the study of the problem under additional assumptions. We first study the…
Standard computer vision systems assume access to intelligently captured inputs (e.g., photos from a human photographer), yet autonomously capturing good observations is a major challenge in itself. We address the problem of learning to…
The polygon retrieval problem on points is the problem of preprocessing a set of $n$ points on the plane, so that given a polygon query, the subset of points lying inside it can be reported efficiently. It is of great interest in areas such…
While recent work on online goal recognition efficiently infers goals under low observability, comparatively less work focuses on online goal recognition that works in both discrete and continuous domains. Online goal recognition approaches…