Related papers: On Fence Patrolling by Mobile Agents
Consider the scenario where multiple agents have to move in an optimal way through a network, each one towards their ending position while avoiding collisions. By optimal, we mean as fast as possible, which is evaluated by a measure known…
We show that when a third party, the adversary, steps into the two-party setting (agent and operator) of safely interruptible reinforcement learning, a trade-off has to be made between the probability of following the optimal policy in the…
Two mobile agents, starting from different nodes of an unknown network, have to meet at the same node. Agents move in synchronous rounds using a deterministic algorithm. Each agent has a different label, which it can use in the execution of…
We introduce and study the problem of planning a trajectory for an agent to carry out a scouting mission while avoiding being detected by an adversarial guard. This introduces an adversarial version of classical visibility-based planning…
Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms…
In Multiagent Path Finding (MAPF), the goal is to compute efficient, collision-free paths for multiple agents navigating a network from their sources to targets, minimizing the schedule's makespan-the total time until all agents reach their…
We study the multi-agent path finding problem (MAPF) for a group of agents which are allowed to move into arbitrary directions on a 2D square grid. We focus on centralized conflict resolution for independently computed plans. We propose an…
Suppose that in a given planar circular region, there are some smart mobile evaders and we would like to find them using sweeping agents. We assume that the sweeping agents are in a line formation whose total length is 2r. We propose…
This paper investigates a pursuit-evasion problem involving three agents: a pursuer, an evader, and a defender. Cooperative guidance laws are developed for the evader-defender team that guarantee interception of the pursuer by the defender…
Finite-time motion planning with collision avoidance is a challenging issue in multi-agent systems. This paper proposes a novel distributed controller based on a new Lyapunov barrier function which guarantees finite-time stability for…
Interdicting a criminal with limited police resources is a challenging task as the criminal changes location over time. The size of the large transportation network further adds to the difficulty of this scenario. To tackle this issue, we…
Recent work in decentralized, schedule-driven traffic control has demonstrated the ability to improve the efficiency of traffic flow in complex urban road networks. In this approach, a scheduling agent is associated with each intersection.…
We investigate a variation of the art gallery problem in which a team of mobile guards tries to track an unpredictable intruder in a simply-connected polygonal environment. In this work, we use the deployment strategy for diagonal guards…
We study the problem of multi-agent online graph exploration, in which a team of k agents has to explore a given graph, starting and ending on the same node. The graph is initially unknown. Whenever a node is visited by an agent, its…
We introduce a pursuit game played between a team of a sensor and an attacker and a mobile target in the unbounded Euclidean plane. The target is faster than the sensor, but slower than the attacker. The sensor's objective is to keep the…
This letter presents an approach to guarantee online safety of a cyber-physical system under multiple state and input constraints. Our proposed framework, called gatekeeper, recursively guarantees the existence of an infinite-horizon…
We consider very natural "fence enclosure" problems studied by Capoyleas, Rote, and Woeginger and Arkin, Khuller, and Mitchell in the early 90s. Given a set $S$ of $n$ points in the plane, we aim at finding a set of closed curves such that…
Effective security patrol management is critical for ensuring safety in diverse environments such as art galleries, airports, and factories. The behavior of patrols in these situations can be modeled by patrolling games. They simulate the…
In this paper, we present two self-stabilizing algorithms that enable a single (mobile) agent to explore graphs. Starting from any initial configuration, \ie regardless of the initial states of the agent and all nodes, as well as the…
This paper considers the optimal multi-agent persistent monitoring problem defined for a team of agents on a set of nodes (targets) interconnected according to a fixed network topology. The aim is to control this team so as to minimize a…