Related papers: A Combinatorial Bound for Beacon-based Routing in …
Swarm robotics utilises decentralised self-organising systems to form complex collective behaviours built from the bottom-up using individuals that have limited capabilities. Previous work has shown that simple occlusion-based strategies…
Navigation is crucial for animal behavior and is assumed to require an internal representation of the external environment, termed a cognitive map. The precise form of this representation is often considered to be a metric representation of…
Bluetooth is a promising wireless technology that enables portable devices to form short-range wireless ad hoc networks. Unlike wireless LAN, the communication of Bluetooth devices follow a strict master slave relationship, that is, it is…
A gaze-fixating robot perceives distance to the fixated object and relative positions of surrounding objects immediately, accurately, and robustly. We show how fixation, which is the act of looking at one object while moving, exploits…
Reasoning about potential occlusions is essential for robots to efficiently predict whether an object exists in an environment. Though existing work shows that a robot with active perception can achieve various tasks, it is still unclear if…
A common sensing problem is to use a set of stationary tracking locations to monitor a collection of moving devices: Given $n$ objects that need to be tracked, each following its own trajectory, and $m$ stationary traffic control stations,…
A bump attractor network is a model that implements a competitive neuronal process emerging from a spike pattern related to an input source. Since the bump network could behave in many ways, this paper explores some critical limits of the…
We present a numerical method that allows a formation of communicating agents to target the boundary of a time dependent concentration by following a time dependent concentration gradient. The algorithm motivated by \cite{MB, BKM}, allows…
The well-known \textsc{Watchman Route} problem seeks a shortest route in a polygonal domain from which every point of the domain can be seen. In this paper, we study the cooperative variant of the problem, namely the \textsc{$k$-Watchmen…
This paper deals with random sensors initially randomly deployed on the line according to general random process and on the plane according to two independent general random processes. The mobile robot with carrying capacity $k$ placed at…
The Searchlight Scheduling Problem was first studied in 2D polygons, where the goal is for point guards in fixed positions to rotate searchlights to catch an evasive intruder. Here the problem is extended to 3D polyhedra, with the guards…
Polygon spaces have been studied extensively, and yet missing from the literature is a simple property that every polygon has: dimension. This is distinct (possibly) from the dimension of the ambient space in which the polygon lives. A…
It is a widely observed phenomenon in computer graphics that the size of the silhouette of a polyhedron is much smaller than the size of the whole polyhedron. This paper provides, for the first time, theoretical evidence supporting this for…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
We study a generalization of the classical problem of the illumination of polygons. Instead of modeling a light source we model a wireless device whose radio signal can penetrate a given number $k$ of walls. We call these objects $k$-modems…
The problem of wireless localization asks to place and orient stations in the plane, each of which broadcasts a unique key within a fixed angular range, so that each point in the plane can determine whether it is inside or outside a given…
Given a bichromatic point set $P=\textbf{R} \cup \textbf{B}$ of red and blue points, a separator is an object of a certain type that separates $\textbf{R}$ and $\textbf{B}$. We study the geometric separability problem when the separator is…
\textsc{Arbitrary Pattern Formation} is a fundamental problem in autonomous mobile robot systems. The problem asks to design a distributed algorithm that moves a team of autonomous, anonymous and identical mobile robots to form any…
Consider a weighted graph G where vertices are points in the plane and edges are line segments. The weight of each edge is the Euclidean distance between its two endpoints. A routing algorithm on G has a competitive ratio of c if the length…
If a smooth, closed, and embedded curve is deformed along its normal vector field at a rate proportional to its curvature, it shrinks to a circular point. This curve evolution is called Euclidean curve shortening and the result is known as…