Related papers: Towards a Framework for Tracking Multiple Targets:…
We examine the Art Gallery Problem with Edge Guards. We present a heuristic algorithm to arrange edge guards to guard only the inward side of the walls of any N-vertex simple polygonal gallery using at most roof (N/4) edge guards - a…
In this paper, we investigate a multi-agent target guarding problem in which a single defender seeks to capture multiple attackers aiming to reach a high-value target area. In contrast to previous studies, the attackers herein are assumed…
Motivated by the increasing appeal of robots in information-gathering missions, we study multi-agent path planning problems in which the agents must remain interconnected. We model an area by a topological graph specifying the movement and…
One of the most important problems in hybrid systems is the {\em reachability problem}. The reachability problem has been shown to be undecidable even for a subclass of {\em linear} hybrid systems. In view of this, the main focus in the…
The interception of moving targets is a widely studied issue. In this paper, we propose an algorithm of intercepting the moving target with a wheeled mobile robot in a dynamic environment. We first predict the future position of the target…
This paper focuses on a variation of the Art Gallery problem that considers open edge guards and open mobile guards. A mobile guard can be placed on edges and diagonals of a polygon, and the "open" prefix means that the endpoints of such…
Hybrid dynamical systems with nonlinear dynamics are one of the most general modeling tools for representing robotic systems, especially contact-rich systems. However, providing guarantees regarding the safety or performance of nonlinear…
This paper addresses the movement and placement of mobile agents to establish a communication network in initially unknown environments. We cast the problem in a computational-geometric framework by relating the coverage problem and…
The fully dynamic transitive closure problem asks to maintain reachability information in a directed graph between arbitrary pairs of vertices, while the graph undergoes a sequence of edge insertions and deletions. The problem has been…
We present Multi-Agent gatekeeper, a framework that provides provable safety guarantees for leader-follower formation control in cluttered 3D environments. Existing methods face a trad-off: online planners and controllers lack formal safety…
Reachability analysis aims at identifying states reachable by a system within a given time horizon. This task is known to be computationally expensive for linear hybrid systems. Reachability analysis works by iteratively applying continuous…
We introduce a dynamic vehicle routing problem in which a single vehicle seeks to guard a circular perimeter against radially inward moving targets. Targets are generated uniformly as per a Poisson process in time with a fixed arrival rate…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
Victor Klee introduce the art gallery problem during a conference in Stanford in August 1976 with that question: "How many guards are required to guard an art gallery?" In 1987, Ghosh provided an approximation algorithm for vertex guards…
This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…
This paper studies a multi-robot visibility-based pursuit-evasion problem in which a group of pursuer robots are tasked with detecting an evader within a two dimensional polygonal environment. The primary contribution is a novel formulation…
We study the problem of guarding orthogonal art galleries with horizontal mobile guards (alternatively, vertical) and point guards, using "rectangular vision". We prove a sharp bound on the minimum number of point guards required to cover…
This paper considers the persistent coverage of a 2-D manifold that has been embedded in 3-D space. The manifold is subject to continual impact by intruders which travel at constant velocities along arbitrarily oriented straight-line…
This paper investigates one-step backward reachability for uncertain max-plus linear systems with additive disturbances. Given a target set, the problem is to compute the set of states from which there exists an admissible control input…
We present a novel algorithm for game-theoretic trajectory planning, tailored for settings in which agents can only observe one another in specific regions of the state space. Such problems arise naturally in the context of multi-robot…