Related papers: Persistent Monitoring in Discrete Environments: Mi…
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…
In this paper we study multi-robot path planning for persistent monitoring tasks. We consider the case where robots have a limited battery capacity with a discharge time $D$. We represent the areas to be monitored as the vertices of a…
We study the problem of planning paths for a team of robots for visually monitoring an environment. Our work is motivated by surveillance and persistent monitoring applications. We are given a set of target points in a polygonal environment…
We consider the problem of finding patrol schedules for $k$ robots to visit a given set of $n$ sites in a metric space. Each robot has the same maximum speed and the goal is to minimize the weighted maximum latency of any site, where the…
The subject of this work is the patrolling of an environment with the aid of a team of autonomous agents. We consider both the design of open-loop trajectories with optimal properties, and of distributed control laws converging to optimal…
When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…
This paper introduces a new mobile sensor scheduling problem, involving a single robot tasked with monitoring several events of interest that occur at different locations. Of particular interest is the monitoring of transient events that…
Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…
We study the minimum \emph{Monitoring Edge Geodetic Set} (\megset) problem introduced in [Foucaud et al., CALDAM'23]: given a graph $G$, we say that an edge is monitored by a pair $u,v$ of vertices if \emph{all} shortest paths between $u$…
Given a simple graph $G$, we consider the node search problem with inert fugitive. We are interested in minimizing the maximum vertex occupation time, i.e. the maximum number of steps in which a vertex is occupied by a searcher during a…
The Orthogonal Watchman Route Problem (OWRP) entails the search for the shortest path, known as the watchman route, that a robot must follow within a polygonal environment. The primary objective is to ensure that every point in the…
Edge-Geodetic Sets play a crucial role in network monitoring and optimization, wherein the goal is to strategically place monitoring stations on vertices of a network, represented as a graph, to ensure complete coverage of edges and…
We revisit an old minor topic in algorithms, the deterministic walk on a finite graph which always moves toward the nearest unvisited vertex until every vertex is visited. There is an elementary connection between this cover time and…
Many combinatorial optimization problems can be formulated as the search for a subgraph that satisfies certain properties and minimizes the total weight. We assume here that the vertices correspond to points in a metric space and can take…
In this paper we tackle the problem of persistently covering a complex non-convex environment with a team of robots. We consider scenarios where the coverage quality of the environment deteriorates with time, requiring to constantly revisit…
We consider the standard message passing model; we assume the system is fully synchronous: all processes start at the same time and time proceeds in synchronised rounds. In each round each vertex can transmit a different message of size…
We investigate the problem of optimally assigning a large number of robots (or other types of autonomous agents) to guard the perimeters of closed 2D regions, where the perimeter of each region to be guarded may contain multiple disjoint…
This paper deals with the problem of finding a collection of vertex-disjoint paths in a given graph G=(V,E) such that each path has at least four vertices and the total number of vertices in these paths is maximized. The problem is NP-hard…
Graph vertex embeddings based on random walks have become increasingly influential in recent years, showing good performance in several tasks as they efficiently transform a graph into a more computationally digestible format while…
We study multi-robot persistent monitoring on weighted graphs, where node weights encode monitoring priorities and edge weights encode travel distances. The goal is to design joint robot trajectories that minimize the worst-case weighted…