Related papers: Towards a Framework for Tracking Multiple Targets:…
This paper addresses the problem of tracking mobile intruders in a polygonal environment. We assume that a team of diagonal guards is deployed inside the polygon to provide mobile coverage. First, we formulate the problem of tracking a…
This work explores a variation of the art gallery problem in which a team of static and mobile guards track a mobile intruder with unknown maximum speed. First, we present an algorithm to identify {\it candidate vertices} in a polygon at…
This paper presents an algorithm to deploy a team of {\it free} guards equipped with omni-directional cameras for tracking a bounded speed intruder inside a simply-connected polygonal environment. The proposed algorithm partitions the…
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…
We study the classical Art Gallery Problem first proposed by Klee in 1973 from a mobile multi-agents perspective. Specifically, we require an optimally small number of agents (also called guards) to navigate and position themselves in the…
In this article, the issue of guarding multi-agent systems against a sequence of intruder attacks through mobile heterogeneous guards (guards with different ranges) is discussed. The article makes use of graph theoretic abstractions of such…
Recent advances in robotics have enabled the widespread deployment of autonomous robotic systems in complex operational environments, presenting both unprecedented opportunities and significant security problems. Traditional shepherding…
We study the Cooperative Guarding problem for polygons with holes in a mobile multi-agents setting. Given a set of agents, initially deployed at a point in a polygon with $n$ vertices and $h$ holes, we require the agents to collaboratively…
In this paper we study the art gallery problem, which is one of the fundamental problems in computational geometry. The objective is to place a minimum number of guards inside a simple polygon such that the guards together can see the whole…
We study the problem of planning paths for a team of robots for visually monitoring an environment. Our work is motivated by surveillance and persistent monitoring applications. We are given a set of target points in a polygonal environment…
We investigate the Dispersive Art Gallery Problem with vertex guards and rectangular visibility ($r$-visibility) for a class of orthogonal polygons that reflect the properties of real-world floor plans: these office-like polygons consist of…
The chosen tool of this thesis is an extremal type approach. The lesson drawn by the theorems proved in the thesis is that surprisingly small compromise is necessary on the efficacy of the solutions to make the approach work. The problems…
We consider the problem of monitoring an art gallery modeled as a polygon, the edges of which are arcs of curves, with edge or mobile guards. Our focus is on piecewise-convex polygons, i.e., polygons that are locally convex, except possibly…
Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…
We introduce a new variant of the art gallery problem that comes from safety issues. In this variant we are not interested in guard sets of smallest cardinality, but in guard sets with largest possible distances between these guards. To the…
Using mobile robots for autonomous patrolling of environments to prevent intrusions is a topic of increasing practical relevance. One of the most challenging scientific issues is the problem of finding effective patrolling strategies that,…
Given a simple polygon $\cal P$, in the Art Gallery problem the goal is to find the minimum number of guards needed to cover the entire $\cal P$, where a guard is a point and can see another point $q$ when $\overline{pq}$ does not cross the…
As robotic systems increasingly operate in unstructured, cluttered, and previously unseen environments, there is a growing need for manipulators that combine compliance, adaptability, and precise control. This work presents a real-time…
Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead,…
Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for…