Related papers: Coverage Optimization using Generalized Voronoi Pa…

We present a decentralized path-planning algorithm for navigating multiple differential-drive robots in dense environments. In contrast to prior decentralized methods, we propose a novel congestion metric-based replanning that couples local…

Cellular structures manifest their outstanding mechanical properties in many biological systems. One key challenge for designing and optimizing these geometrically complicated structures lies in devising an effective geometric…

In this paper, the optimal deployment of multiple unmanned aerial vehicles (UAVs) acting as flying base stations is investigated. Considering the downlink scenario, the goal is to minimize the total required transmit power of UAVs while…

Advances in cellular networks such as device-to-device communications and full-duplex radios, as well as the inherent elimination of intra-cell interference achieved by network-controlled multiple access schemes, motivates the investigation…

To address the challenge of efficient coverage by multi-robot systems in non-convex regions with multiple obstacles, this paper proposes a coverage control method based on the Generalized Voronoi Graph (GVG), which has two phases:…

We propose a distributed control algorithm for a multi-agent network whose agents deploy over a cluttered region in accordance with a time-varying coverage density function while avoiding collisions with all obstacles they encounter. Our…

We introduce VoroFields, a hierarchical neural-field framework for approximating generalized Voronoi diagrams of finite geometric site sets in low-dimensional domains under arbitrary evaluable point-to-site distances. Instead of…

As is well known, energy cost can greatly impact the deployment of battery-powered sensor networks in remote environments such as rivers or oceans. Motivated by this, we propose here an energy-based metric and associate energy-based Voronoi…

This article provides numerical evidence that under volume constraint the ball is the set which maximizes the perimeter of the least-perimeter partition into cells with prescribed areas. We introduce a numerical maximization algorithm which…

This work proposes a new resource allocation optimization framework for cellular networks using "fog" or neighborhood-based optimization rather than fully centralized or fully decentralized methods. In neighborhood-based optimization…

We present a general mathematical framework for optimizing cell deployment and antenna configuration in wireless networks, inspired by quantization theory. Unlike traditional methods, our framework supports networks with deterministically…

In this paper, we present a communication-free algorithm for distributed coverage of an arbitrary network by a group of mobile agents with local sensing capabilities. The network is represented as a graph, and the agents are arbitrarily…

This paper primarily focuses on figuring out the best array of cameras, or visual sensors, so that such a placement enables the maximum utilization of these visual sensors. Maximizing the utilization of these cameras can convert to another…

In this paper, we first consider a flat plate (called a lamina) with uniform density $\rho$ that occupies a region $\mathfrak R$ of the plane. We show that the location of the center of mass, also known as the centroid, of the region equals…

In this paper we present a novel distributed coverage control framework for a network of mobile agents, in charge of covering a finite set of points of interest (PoI), such as people in danger, geographically dispersed equipment or…

Navigating topological transitions in cellular mechanical systems is a significant challenge for existing simulation methods. While abstract models lack predictive capabilities at the cellular level, explicit network representations…

The main contribution of this paper is a methodology for multiple non-cooperating swarms of unmanned aerial vehicles to independently cover a common area. In contrast to previous research on coverage control involving more than one swarm,…

Range-based localization is ubiquitous: global navigation satellite systems (GNSS) power mobile phone-based navigation, and autonomous mobile robots can use range measurements from a variety of modalities including sonar, radar, and even…

Sensor placement optimization methods have been studied extensively. They can be applied to a wide range of applications, including surveillance of known environments, optimal locations for 5G towers, and placement of missile defense…

This paper examines the spatial coverage optimization problem for multiple sensors in a known convex environment, where the coverage service of each sensor is heterogeneous and anisotropic. We introduce the Stein Coverage algorithm, a…