Related papers: The Beachcombers' Problem: Walking and Searching w…
The quantum-walk-based spatial search problem aims to find a marked vertex using a quantum walk on a graph with marked vertices. We describe a framework for determining the computational complexity of spatial search by continuous-time…
This paper introduces the Robotability Score ($R$), a novel metric that quantifies the suitability of urban environments for autonomous robot navigation. Through expert interviews and surveys, we identify and weigh key features contributing…
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…
A mobile robot represented by a point moving in the plane has to explore an unknown terrain with obstacles. Both the terrain and the obstacles are modeled as arbitrary polygons. We consider two scenarios: the unlimited vision, when the…
The problem of navigating a bipedal robot to a desired destination in various environments is very important. However, it is very difficult to solve the navigation problem in real time because the computation time is very long due to the…
We present the concept of speed maps: speed limits for mobile robots in human environments. Static speed maps allow for faster navigation on corridors while limiting the speed around corners and in rooms. Dynamic speed maps put limits on…
A time-optimal problem for redundantly actuated robots moving on a specified path is a challenging problem. Although the problem is well explored and there are proposed solutions based on phase plane analysis, there are still several…
The dispersion problem on graphs asks $k\leq n$ robots placed initially arbitrarily on the nodes of an $n$-node anonymous graph to reposition autonomously to reach a configuration in which each robot is on a distinct node of the graph. This…
The dispersion problem on graphs requires $k$ robots placed arbitrarily at the $n$ nodes of an anonymous graph, where $k \leq n$, to coordinate with each other to reach a final configuration in which each robot is at a distinct node of the…
This study explores the problem of Multi-Agent Path Finding with continuous and stochastic travel times whose probability distribution is unknown. Our purpose is to manage a group of automated robots that provide package delivery services…
We consider the following surveillance problem: Given a set $P$ of $n$ sites in a metric space and a set of $k$ robots with the same maximum speed, compute a patrol schedule of minimum latency for the robots. Here a patrol schedule…
We study a new search problem on the plane involving a robot and an immobile treasure, initially placed at distance $1$ from each other. The length $\beta$ of an arc (a fence) within the perimeter of the corresponding circle, as well as the…
This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive…
We introduce a new problem which we call the Pony Express problem. n robots with differing speeds are situated over some domain. A message is placed at some commonly known point. Robots can acquire the message either by visiting its initial…
The paper presents a comprehensive performance evaluation of some heuristic search algorithms in the context of autonomous systems and robotics. The objective of the study is to evaluate and compare the performance of different search…
In many industrial robotics applications, such as spot-welding, spray-painting or drilling, the robot is required to visit successively multiple targets. The robot travel time among the targets is a significant component of the overall…
Search problems at various scales involve a searcher, be it a molecule before reaction or a foraging animal, which performs an intermittent motion. Here we analyze a generic model based on such type of intermittent motion, in which the…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
We consider the problem of people search by a mobile social robot in case of a situation that cannot be solved by the robot alone. Examples are physically opening a closed door or operating an elevator. Based on the Behavior Tree framework,…
One area of research in multi-agent path finding is to determine how replanning can be efficiently achieved in the case of agents being delayed during execution. One option is to reschedule the passing order of agents, i.e., the sequence in…