Related papers: A Formal Framework for Mobile Robot Patrolling in …

Multi-robot patrolling is the potential application for robotic systems to survey wide areas efficiently without human burdens and mistakes. However, such systems have few examples of real-world applications due to their lack of human…

Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…

Modern robots require accurate forecasts to make optimal decisions in the real world. For example, self-driving cars need an accurate forecast of other agents' future actions to plan safe trajectories. Current methods rely heavily on…

The interception of moving targets is a widely studied issue. In this paper, we propose an algorithm of intercepting the moving target with a wheeled mobile robot in a dynamic environment. We first predict the future position of the target…

The Gathering problem for a swarm of robots asks for a distributed algorithm that brings such entities to a common place, not known in advance. We consider the well-known OBLOT model with robots constrained to move along the edges of a…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

Arbitrary Pattern Formation (APF) is a fundamental coordination problem in swarm robotics. It requires a set of autonomous robots (mobile computing units) to form an arbitrary pattern (given as input) starting from any initial pattern. This…

In mobile robotics and autonomous driving, it is natural to model agent interactions as the Nash equilibrium of a noncooperative, dynamic game. These methods inherently rely on observations from sensors such as lidars and cameras to…

Perimeter identification involves ascertaining the boundaries of a designated area or zone, requiring traffic flow monitoring, control, or optimization. Various methodologies and technologies exist for accurately defining these perimeters;…

Since humans and robots are increasingly sharing portions of their operational spaces, experimental evidence is needed to ascertain the safety and social acceptability of robots in human-populated environments. Although several studies have…

The ability to guarantee safety and progress for all vehicles is vital to the success of the autonomous vehicle industry. We present a framework for designing autonomous vehicle behavior in a way that is safe and guarantees progress for all…

We consider the problem of searching for an intruder in a geometric domain by utilizing multiple search robots. The domain is a simply connected orthogonal polygon with edges parallel to the cartesian coordinate axes. Each robot has a…

This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…

In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…

Interacting with human agents in complex scenarios presents a significant challenge for robotic navigation, particularly in environments that necessitate both collision avoidance and collaborative interaction, such as indoor spaces. Unlike…

In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specifically, we assume that targets can appear and disappear at…

Adversarial Patrolling games form a subclass of Security games where a Defender moves between locations, guarding vulnerable targets. The main algorithmic problem is constructing a strategy for the Defender that minimizes the worst damage…

In an environment with certain locations of higher priority, it is required to patrol these locations as frequently as possible due to their importance. However, the Non-Priority locations are often neglected during the task. It is…

We present a novel algorithm for game-theoretic trajectory planning, tailored for settings in which agents can only observe one another in specific regions of the state space. Such problems arise naturally in the context of multi-robot…

Autonomous exploration in unknown environments remains a fundamental challenge in robotics, particularly for applications such as search and rescue, industrial inspection, and planetary exploration. Multi-robot active SLAM presents a…