Related papers: A Combinatorial Bound for Beacon-based Routing in …
The beacon model is a recent paradigm for guiding the trajectory of messages or small robotic agents in complex environments. A beacon is a fixed point with an attraction pull that can move points within a given polygon. Points move…
A beacon is a point-like object which can be enabled to exert a magnetic pull on other point-like objects in space. Those objects then move towards the beacon in a greedy fashion until they are either stuck at an obstacle or reach the…
We establish tight bounds for beacon-based coverage problems, and improve the bounds for beacon-based routing problems in simple rectilinear polygons. Specifically, we show that $\lfloor \frac{n}{6} \rfloor$ beacons are always sufficient…
We solve an open problem posed by Michael Biro at CCCG 2013 that was inspired by his and others' work on beacon-based routing. Consider a human and a puppy on a simple closed curve in the plane. The human can walk along the curve at bounded…
Let $B$ be a point robot moving in the plane, whose path is constrained to forward motions with curvature at most one, and let $P$ be a convex polygon with $n$ vertices. Given a starting configuration (a location and a direction of travel)…
Motivated by real-world applications of unmanned aerial vehicles, this paper introduces a decentralized control mechanism to guide steering control of autonomous agents maneuvering in the vicinity of multiple moving entities (e.g. other…
Motivated by station-keeping applications in various unmanned settings, this paper introduces a steering control law for a pair of agents operating in the vicinity of a fixed beacon in a three-dimensional environment. This feedback law is a…
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…
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 self-approaching paths that are contained in a simple polygon. A self-approaching path is a directed curve connecting two points such that the Euclidean distance between a point moving along the path and any future position does…
Traditionally, there have been few options for navigational aids for the blind and visually impaired (BVI) in large indoor spaces. Some recent indoor navigation systems allow users equipped with smartphones to interact with low cost…
The protection of pathways holds immense significance across various domains, including urban planning, transportation, surveillance, and security. This article introduces a groundbreaking approach to safeguarding pathways by employing…
Boolean networks have been the object of much attention, especially since S. Kauffman proposed them in the 1960's as models for gene regulatory networks. These systems are characterized by being defined on a Boolean state space and by…
This paper presents an autonomous parking control strategy for an active-joint center-articulated mobile robot. We first derive a kinematic model of the robot, then propose a control law to stabilize the vehicle's configuration within a…
The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…
Rectangles are used to approximate objects, or sets of objects, in a plethora of applications, systems and index structures. Many tasks, such as nearest neighbor search and similarity ranking, require to decide if objects in one rectangle A…
We study the problem of rotating a simple polygon to contain the maximum number of elements from a given point set in the plane. We consider variations of this problem where the rotation center is a given point or lies on a line segment, a…
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…
Language-conditioned local navigation requires a robot to infer a nearby traversable target location from its current observation and an open-vocabulary, relational instruction. Existing vision-language spatial grounding methods usually…
We study two simple modifications of self-avoiding polygons. Osculating polygons are a super-set in which we allow the perimeter of the polygon to touch at a vertex. Neighbour-avoiding polygons are only allowed to have nearest neighbour…