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Autonomous agents, particularly in the field of robotics, rely on sensory information to perceive and navigate their environment. However, these sensory inputs are often imperfect, leading to distortions in the agent's internal…
When working around other agents such as humans, it is important to model their perception capabilities to predict and make sense of their behavior. In this work, we consider agents whose perception capabilities are determined by their…
If a robotic agent wants to exploit symbolic planning techniques to achieve some goal, it must be able to properly ground an abstract planning domain in the environment in which it operates. However, if the environment is initially unknown…
This article presents a distributed algorithm for a group of robotic agents with omnidirectional vision to deploy into nonconvex polygonal environments with holes. Agents begin deployment from a common point, possess no prior knowledge of…
A group of mobile agents, identical, anonymous, and oblivious (memoryless), having the capability to sense only the relative direction (bearing) to neighborhing agents within a finite visibility range, are shown to gather to a meeting point…
We study the classical Art Gallery Problem first proposed by Klee in 1973 from a mobile multi-agents perspective. Specifically, we require an optimally small number of agents (also called guards) to navigate and position themselves in the…
Autonomous agents face the challenge of coordinating multiple tasks (perception, motion planning, controller) which are computationally expensive on a single onboard computer. To utilize the onboard processing capacity optimally, it is…
Understanding the geometric relationships between objects in a scene is a core capability in enabling both humans and autonomous agents to navigate in new environments. A sparse, unified representation of the scene topology will allow…
The purpose of this paper is to explore a new way of autonomous mapping. Current systems using perception techniques like LAZER or SONAR use probabilistic methods and have a drawback of allowing considerable uncertainty in the mapping…
In a developmental framework, autonomous robots need to explore the world and learn how to interact with it. Without an a priori model of the system, this opens the challenging problem of having robots master their interface with the world:…
Autonomous agents rely on sensor data to construct representations of their environments, essential for predicting future events and planning their actions. However, sensor measurements suffer from limited range, occlusions, and sensor…
Despite growing attention in autonomy, there are still many open problems, including how autonomous vehicles will interact and communicate with other agents, such as human drivers and pedestrians. Unlike most approaches that focus on…
The visibility graph of a simple polygon represents visibility relations between its vertices. Knowing the correct order of the vertices around the boundary of a polygon and its visibility graph, it is an open problem to locate the vertices…
Physically rearranging objects is an important capability for embodied agents. Visual room rearrangement evaluates an agent's ability to rearrange objects in a room to a desired goal based solely on visual input. We propose a simple yet…
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…
Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…
The ability to use a 2D map to navigate a complex 3D environment is quite remarkable, and even difficult for many humans. Localization and navigation is also an important problem in domains such as robotics, and has recently become a focus…
Motivated by the increasing appeal of robots in information-gathering missions, we study multi-agent path planning problems in which the agents must remain interconnected. We model an area by a topological graph specifying the movement and…
Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…
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…