Related papers: Voronoi-Based Coverage Control of Heterogeneous Di…
We consider the problem of cooperative motion coordination for multiple heterogeneous mobile vehicles subject to various constraints. These include nonholonomic motion constraints, constant speed constraints, holonomic coordination…
We investigate the combinatorial complexity of geodesic Voronoi diagrams on polyhedral terrains using a probabilistic analysis. Aronov etal [ABT08] prove that, if one makes certain realistic input assumptions on the terrain, this complexity…
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…
Multi-Robot Coverage problems have been extensively studied in robotics, planning and multi-agent systems. In this work, we consider the coverage problem when there are constraints on the proximity (e.g., maximum distance between the…
This paper investigates the formation control problem of heterogeneous, autonomous agents that communicate over a wireless multiple access channel. Instead of avoiding interference through orthogonal node-to-node transmissions, we exploit…
Surprisingly, the order-$k$ Voronoi diagram of line segments had received no attention in the computational-geometry literature. It illustrates properties surprisingly different from its counterpart for points; for example, a single…
This paper deals with the leader-follower attitude synchronization problem for a group of heterogeneous rigid body systems on $SO(3)$ under an undirected, connected, and acyclic graph communication topology. The proposed distributed control…
Balancing passenger demand and vehicle availability is crucial for ensuring the sustainability and effectiveness of urban transportation systems. To address this challenge, we propose a novel hierarchical strategy for the efficient…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
Given a set of $n$ sites from $\mathbb{R}^d$, each having some positive weight factor, the Multiplicatively Weighted Voronoi Diagram is a subdivision of space that associates each cell to the site whose weighted Euclidean distance is…
This work uses vector field inequalities (VFI) to prevent robot self-collisions and collisions with the workspace. Differently from previous approaches, the method is suitable for both velocity and torque-actuated robots. We propose a new…
Ergodic control synthesizes optimal coverage behaviors over spatial distributions for nonlinear systems. However, existing formulations model the robot as a non-volumetric point, whereas in practice a robot interacts with the environment…
Modern Deep Neural Networks (DNNs) exhibit profound efficiency and accuracy properties. This has introduced application workloads that comprise of multiple DNN applications, raising new challenges regarding workload distribution. Equipped…
In this article, I argue that the concept of the standard Voronoi diagram is incorrect for the calculation of dominance area in soccer. The correct region that should replace the polygonal Voronoi region controlled by a player emerges…
Inspired by the concept of network algebraic connectivity, we adopt an extended notion named rigidity preservation index to characterize the rigidity property for a formation framework. A gradient based controller is proposed to ensure the…
We study Voronoi diagrams for distance functions that add together two convex functions, each taking as its argument the difference between Cartesian coordinates of two planar points. When the functions do not grow too quickly, then the…
Effective transport properties of heterogeneous structures are predicted by geometric microstructural parameters, but these can be difficult to calculate. Here, a boundary element code with a recurrent series method accurately and…
Motivated by the fact that intelligent traffic control systems have become inevitable demand to cope with the risk of traffic congestion in urban areas, this paper develops a distributed control strategy for urban traffic networks. Since…
In the realm of heterogeneous mixed autonomy, vehicles experience dynamic spatial correlations and nonlinear temporal interactions in a complex, non-Euclidean space. These complexities pose significant challenges to traditional…
In this paper, we propose a novel and distributed formation control method for autonomous robots to follow the desired formation while tracking a moving target in dynamic environments. In our approach, the desired formations, which include…