Related papers: Towards a Framework for Tracking Multiple Targets:…
The art gallery problem enquires about the least number of guards sufficient to ensure that an art gallery, represented by a simple polygon $P$, is fully guarded. Most standard versions of this problem are known to be NP-hard. In 1987,…
We consider a variant of pursuit-evasion games where a single defender is tasked to defend a static target from a sequence of periodically arriving intruders. The intruders' objective is to breach the boundary of a circular target without…
The problem of graph Reachability is to decide whether there is a path from one vertex to another in a given graph. In this paper, we study the Reachability problem on three distinct graph families - intersection graphs of Jordan regions,…
Pedestrian behavior prediction is one of the major challenges for intelligent driving systems in urban environments. Pedestrians often exhibit a wide range of behaviors and adequate interpretations of those depend on various sources of…
Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and…
Recently there have been a lot of interests in introducing UAVs for a wide range of applications, making ensuring safety of multi-vehicle systems a highly crucial problem. Hamilton-Jacobi (HJ) reachability is a promising tool for analyzing…
Boolean programs with multiple recursive threads can be captured as pushdown automata with multiple stacks. This model is Turing complete, and hence, one is often interested in analyzing a restricted class that still captures useful…
One of the earliest and most well known problems in computational geometry is the so-called art gallery problem. The goal is to compute the minimum possible number guards placed on the vertices of a simple polygon in such a way that they…
In this paper, we study the Contiguous Art Gallery Problem, introduced by Thomas C. Shermer at the 2024 Canadian Conference on Computational Geometry, a variant of the classical art gallery problem from 1973 by Victor Klee. In the…
The state space representation of active resident space objects can be posed in the form of a stochastic hybrid system. Satellite maneuvers may be accounted for according to control cost or heuristical considerations, yet it is possible to…
We tackle the Art Gallery Problem and the Searchlight Scheduling Problem in 3-dimensional polyhedral environments, putting special emphasis on edge guards and orthogonal polyhedra.
We study the art gallery problem for opposing half guards: guards that can either see to their left or to their right only. We present art gallery theorems, show that the location of half guards in 2-guardable polygons is not restricted to…
Motivated by secure wireless networking, we consider the problem of placing fixed localizers that enable mobile communication devices to prove they belong to a secure region that is defined by the interior of a polygon. Each localizer views…
In this paper, a computationally efficient data-driven hybrid automaton model is proposed to capture unknown complex dynamical system behaviors using multiple neural networks. The sampled data of the system is divided by valid partitions…
This paper studies a 3D multiplayer reach-avoid differential game with a goal region and a play region. Multiple pursuers defend the goal region by consecutively capturing multiple evaders in the play region. The players have heterogeneous…
The increase in perception capabilities of connected mobile sensor platforms (e.g., self-driving vehicles, drones, and robots) leads to an extensive surge of sensed features at various temporal and spatial scales. Beyond their traditional…
In the problem "Localization and trilateration with the minimum number of landmarks", we faced the 3-Guard and classic Art Gallery Problems. The goal of the art gallery problem is to find the minimum number of guards within a simple polygon…
In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…
Given trajectories with gaps, we investigate methods to tighten spatial bounds on areas (e.g., nodes in a spatial network) where possible rendezvous activity could have occurred. The problem is important for reducing the onerous amount of…
A vision system attached to a manipulator excels at tracing a moving target object while effectively handling obstacles, overcoming limitations arising from the camera's confined field of view and occluded line of sight. Meanwhile, the…