Related papers: Exploring Grid Polygons Online
For a given set of transmitters such as cellular base stations or WiFi access points, is it possible to analytically characterize the set of locations that are "covered" in the sense that users at these locations experience a certain…
We introduce a new problem in the domain of mobile robots, which we term dispersion. In this problem, $n$ robots are placed in an $n$ node graph arbitrarily and must coordinate with each other to reach a final configuration such that…
People with visual impairments (PwVI) often have difficulties navigating through unfamiliar indoor environments. However, current wayfinding tools are fairly limited. In this short paper, we present our in-progress work on a wayfinding…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
This paper deals with the theory and application of 2-Dimensional, nine-neighborhood, null- boundary, uniform as well as hybrid Cellular Automata (2D CA) linear rules in image processing. These rules are classified into nine groups…
We consider the diffusion-advection problem in two simple cellular flow models (often invoked as examples for subdiffusive tracer's motion) and concentrate on the intermediate time range, in which the tracer's motion indeed may show…
Swarm robotics utilises decentralised self-organising systems to form complex collective behaviours built from the bottom-up using individuals that have limited capabilities. Previous work has shown that simple occlusion-based strategies…
We consider a perimeter defense problem in a rooted full tree graph environment in which a single defending vehicle seeks to defend a set of specified vertices, termed as the perimeter from mobile intruders that enter the environment…
This paper addresses the movement and placement of mobile agents to establish a communication network in initially unknown environments. We cast the problem in a computational-geometric framework by relating the coverage problem and…
We design and evaluate algorithms for efficient user-mobility driven macro-cell planning in cellular networks. As cellular networks embrace heterogeneous technologies (including long range 3G/4G and short range WiFi, Femto-cells, etc.),…
A Cellular Automata (CA) rule is presented that can generate "loop patterns" in a 2D grid under fixed boundary conditions. A loop is a cyclically closed path represented by one-cells enclosed by zero-cells. A loop pattern can contain…
We propose a four-way classification of two-dimensional semi-totalistic cellular automata that is different than Wolfram's, based on two questions with yes-or-no answers: do there exist patterns that eventually escape any finite bounding…
This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of…
The dynamic problem of enclosing an expanding fire can be modelled by a discrete variant in a grid graph. While the fire expands to all neighbouring cells in any time step, the fire fighter is allowed to block $c$ cells in the average…
We describe a robotic learning system for autonomous exploration and navigation in diverse, open-world environments. At the core of our method is a learned latent variable model of distances and actions, along with a non-parametric…
We develop and analyze algorithms for dispersing a swarm of primitive robots in an unknown environment, R. The primary objective is to minimize the makespan, that is, the time to fill the entire region. An environment is composed of pixels…
We study planning problems faced by robots operating in uncertain environments with incomplete knowledge of state, and actions that are noisy and/or imprecise. This paper identifies a new problem sub-class that models settings in which…
Indoor exploration is an important task in disaster relief, emergency response scenarios, and Search And Rescue (SAR) missions. Unmanned Aerial Vehicle (UAV) systems can aid first responders by maneuvering autonomously in areas inside…
Occupancy grids are the most common framework when it comes to creating a map of the environment using a robot. This paper studies occupancy grids from the motion planning perspective and proposes a mapping method that provides richer data…
In this work, we initiate the research about the Gathering problem for robots with limited viewing range in the three-dimensional Euclidean space. In the Gathering problem, a set of initially scattered robots is required to gather at the…