Related papers: On cooperative patrolling: optimal trajectories, c…
The effective design of patrol strategies is a difficult and complex problem, especially in medium and large areas. The objective is to plan, in a coordinated manner, the optimal routes for a set of patrols in a given area, in order to…
We consider the following problem - a group of mobile agents perform some task on a terrain modeled as a graph. In a given moment of time an adversary gets an access to the graph and positions of the agents. Shortly before adversary's…
We consider a graph theoretic approach to the performance and robustness of a platoon of vehicles, where each vehicle communicates with its $k$-nearest neighbors. In particular, we quantify the platoon's stability margin, robustness to…
In the graph exploration problem, a team of mobile computational entities, called agents, arbitrarily positioned at some nodes of a graph, must cooperate so that each node is eventually visited by at least one agent. In the literature, the…
This paper considers the collaborative graph exploration problem in GPS-denied environments, where a group of robots are required to cover a graph environment while maintaining reliable pose estimations in collaborative simultaneous…
Persistent monitoring using robot teams is of interest in fields such as security, environmental monitoring, and disaster recovery. Performing such monitoring in a fully on-line decentralised fashion has significant potential advantages for…
In this paper we study a resource allocation problem that encodes correlation between items in terms of \conflict and maximizes the minimum utility of the agents under a conflict free allocation. Admittedly, the problem is computationally…
We consider the problem of optimal unsignalized intersection management, wherein we seek to obtain safe and optimal trajectories, for a set of robots that arrive randomly and continually. This problem involves repeatedly solving a mixed…
In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated…
We consider the problem of completely covering an unknown discrete environment with a swarm of asynchronous, frequently-crashing autonomous mobile robots. We represent the environment by a discrete graph, and task the robots with occupying…
We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…
Developing safe human-robot interaction systems is a necessary step towards the widespread integration of autonomous agents in society. A key component of such systems is the ability to reason about the many potential futures (e.g.…
This paper addresses the problem of planning time-optimal trajectories for multiple cooperative agents along specified paths through a static road network. Vehicle interactions at intersections create non-trivial decisions, with complex…
While maximizing line-of-sight coverage of specific regions or agents in the environment is a well-explored path planning objective, the converse problem of minimizing exposure to the entire environment during navigation is especially…
We are given an equal number of mobile robotic agents, and distinct target locations. Each agent has simple integrator dynamics, a limited communication range, and knowledge of the position of every target. We address the problem of…
This paper studies the optimal resource allocation problem within a multi-agent network composed of both autonomous agents and humans. The main challenge lies in the globally coupled constraints that link the decisions of autonomous agents…
Across infrastructure domains, physical damage caused by storms and other weather events often requires costly and time-sensitive repairs to restore services as quickly as possible. While recent studies have used agent-based models to…
The problem of adversarial multi-robot patrol has gained interest in recent years, mainly due to its immediate relevance to various security applications. In this problem, robots are required to repeatedly visit a target area in a way that…
In this paper we consider several problems concerning packet routing in distributed systems. Each problem is formulated using terms from Graph Theory and for each problem we present efficient, novel, algorithmic techniques for computing…
Increasing interest in integrating advanced robotics within manufacturing has spurred a renewed concentration in developing real-time scheduling solutions to coordinate human-robot collaboration in this environment. Traditionally, the…