Related papers: A Combinatorial Bound for Beacon-based Routing in …
Consider a set of autonomous computational entities, called \emph{robots}, operating inside a polygonal enclosure (possibly with holes), that have to perform some collaborative tasks. The boundary of the polygon obstructs both visibility…
The polygon $P$ is small if its diameter equals one. When $n=2^s$, it is still an open problem to find the maximum perimeter or the maximum width of a small $n$-gon. Motivated by Bingane's series of works, we improve the lower bounds for…
A nonholonomic under-actuated robot with a bounded control range travels inside an unknown and unstructured 3D tunnel bounded by a generic 2D surface. The robot has access to the nearest point of the surface and measures the distance to the…
Imitation learning enables robots to learn new tasks from human examples. One fundamental limitation while learning from humans is causal confusion. Causal confusion occurs when the robot's observations include both task-relevant and…
A novel object detection method is presented that handles freely rotated objects of arbitrary sizes, including tiny objects as small as $2\times 2$ pixels. Such tiny objects appear frequently in remotely sensed images, and present a…
In the pattern formation problem, robots in a system must self-coordinate to form a given pattern, regardless of translation, rotation, uniform-scaling, and/or reflection. In other words, a valid final configuration of the system is a…
Can an infinite-strength magnetic beacon always ``catch'' an iron ball, when the beacon is a point required to be remain nonstrictly outside a polygon, and the ball is a point always moving instantaneously and maximally toward the beacon…
A small polygon is a polygon of unit diameter. The maximal area of a small polygon with $n=2m$ vertices is not known when $m\ge 7$. Finding the largest small $n$-gon for a given number $n\ge 3$ can be formulated as a nonconvex quadratically…
We investigate gathering algorithms for asynchronous autonomous mobile robots moving in uniform ring-shaped networks. Different from most work using the Look-Compute-Move (LCM) model, we assume that robots have limited visibility and…
A technique of designing antenna excitation realizing orthogonal states is presented. It is shown that a symmetric antenna geometry is required in order to achieve orthogonality with respect to all physical quantities. A maximal number of…
We consider the problem of searching for an intruder in a geometric domain by utilizing multiple search robots. The domain is a simply connected orthogonal polygon with edges parallel to the cartesian coordinate axes. Each robot has a…
This paper studies the problem of controlling a multi-robot system to achieve a polygon formation in a self-organized manner. Different from the typical formation control strategies where robots are steered to satisfy the predefined control…
This paper introduces the correlated arc orienteering problem (CAOP), where the task is to find routes for a team of robots to maximize the collection of rewards associated with features in the environment. These features can be…
A k-transmitter in a simple orthogonal polygon P is a mobile guard that travels back and forth along an orthogonal line segment s inside P. The k-transmitter can see a point p in P if there exists a point q on s such that the line segment…
A polygon is derived that contains the numerical range of a bounded linear operator on a complex Hilbert space, using only norms. In its most general form, the polygon is an octagon, symmetric with respect to the origin, and tangent to the…
We study pursuit-evasion in a polygonal environment with polygonal obstacles. In this turn based game, an evader $e$ is chased by pursuers $p_1, p_2, ..., p_{\ell}$. The players have full information about the environment and the location…
Gathering mobile robots is a widely studied problem in robotic research. This survey first introduces the related work, summarizing models and results. Then, the focus shifts on the open problem of gathering fat robots. In this context,…
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…
We study the problem of planning paths for $p$ distinguishable pebbles (robots) residing on the vertices of an $n$-vertex connected graph with $p \le n$. A pebble may move from a vertex to an adjacent one in a time step provided that it…
We consider the problem of routing a data packet through the visibility graph of a polygonal domain $P$ with $n$ vertices and $h$ holes. We may preprocess $P$ to obtain a label and a routing table for each vertex of $P$. Then, we must be…