Related papers: Partial Searchlight Scheduling is Strongly PSPACE-…
The Searchlight Scheduling Problem was first studied in 2D polygons, where the goal is for point guards in fixed positions to rotate searchlights to catch an evasive intruder. Here the problem is extended to 3D polyhedra, with the guards…
With the advent of autonomous robots with two- and three-dimensional scanning capabilities, classical visibility-based exploration methods from computational geometry have gained in practical importance. However, real-life laser scanning of…
In a multi-robot system, a number of autonomous robots would sense, communicate, and decide to move within a given domain to achieve a common goal. In this paper, we consider a new variant of the pursuit-evasion problem in which the robots…
We study routing games where every agent sequentially decides her next edge when she obtains the green light at each vertex. Because every edge only has capacity to let out one agent per round, an edge acts as a FIFO waiting queue that…
This paper presents an algorithm to deploy a team of {\it free} guards equipped with omni-directional cameras for tracking a bounded speed intruder inside a simply-connected polygonal environment. The proposed algorithm partitions the…
We present a nondeterministic model of computation based on reversing edge directions in weighted directed graphs with minimum in-flow constraints on vertices. Deciding whether this simple graph model can be manipulated in order to reverse…
The Meeting problem for $k\geq 2$ searchers in a polygon $P$ (possibly with holes) consists in making the searchers move within $P$, according to a distributed algorithm, in such a way that at least two of them eventually come to see each…
We prove that a variant of 2048, a popular online puzzle game, is PSPACE-Complete. Our hardness result holds for a version of the problem where the player has oracle access to the computer player's moves. Specifically, we show that for an…
This paper develops and compares two simple asynchronous distributed searchlight scheduling algorithms for multiple robotic agents in nonconvex polygonal environments. A searchlight is a ray emitted by an agent which cannot penetrate the…
We tackle the Art Gallery Problem and the Searchlight Scheduling Problem in 3-dimensional polyhedral environments, putting special emphasis on edge guards and orthogonal polyhedra.
In the problem of multi-robot motion planning, a group of robots, placed in a polygonal domain with obstacles, must be moved from their starting positions to a set of target positions. We consider the specific case of unlabeled disc robots…
We study the problem of guarding the boundary of a simple polygon with a minimum number of guards such that each guard covers a contiguous portion of the boundary. First, we present a simple greedy algorithm for this problem that returns a…
In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…
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…
In this paper, we propose an efficient clustering technique to solve the problem of clustering in the presence of obstacles. The proposed algorithm divides the spatial area into rectangular cells. Each cell is associated with statistical…
We study two well-known reconfiguration problems. Given a start and a target configuration of geometric objects in a polygon, we wonder whether we can move the objects from the start configuration to the target configuration while avoiding…
We investigate algorithmic control of a large swarm of mobile particles (such as robots, sensors, or building material) that move in a 2D workspace using a global input signal (such as gravity or a magnetic field). We show that a maze of…
We prove PSPACE-completeness of all but one problem in a large space of pulling-block problems where the goal is for the agent to reach a target destination. The problems are parameterized by whether pulling is optional, the number of…
We study the verification of distributed systems where processes are finite automata with access to a shared pool of locks. We consider objectives that are boolean combinations of local regular constraints. We show that the problem,…
Acceleration of algorithms is becoming a crucial problem, if larger data sets are to be processed. Evaluation of algorithms is mostly done by using computational geometry approach and evaluation of computational complexity. However in…