Related papers: Towards a Framework for Tracking Multiple Targets:…
The reachability problem asks to decide if there exists a path from one vertex to another in a digraph. In a grid digraph, the vertices are the points of a two-dimensional square grid, and an edge can occur between a vertex and its…
We study the problem of colouring the vertices of a polygon, such that every viewer in it can see a unique colour. The goal is to minimise the number of colours used. This is also known as the conflict-free chromatic guarding problem with…
We consider guarding classes of simple polygons using mobile guards (polygon edges and diagonals) under the constraint that no two guards may see each other. In contrast to most other art gallery problems, existence is the primary question:…
A new framework for formulating reachability problems with competing inputs, nonlinear dynamics and state constraints as optimal control problems is developed. Such reach-avoid problems arise in, among others, the study of safety problems…
When securing complex infrastructures or large environments, constant surveillance of every area is not affordable. To cope with this issue, a common countermeasure is the usage of cheap but wide-ranged sensors, able to detect suspicious…
This paper introduces an approach to address the target enclosing problem using non-holonomic multiagent systems, where agents self-organize on the enclosing shape around a fixed target. In our approach, agents independently move toward the…
The problem of target tracking with multiple robots consists of actively planning the motion of the robots to track the targets. A major challenge for practical deployments is to make the robots resilient to failures. In particular, robots…
We resolve the complexity of the point-boundary variant of the art gallery problem, showing that it is $\exists\mathbb{R}$-complete, meaning that it is equivalent under polynomial time reductions to deciding whether a system of polynomial…
This paper presents a novel robust variable-horizon model predictive control scheme designed to intercept a target moving along a known trajectory, in finite time. Linear discrete-time systems affected by bounded process disturbances are…
Graph clustering is an important technique to understand the relationships between the vertices in a big graph. In this paper, we propose a novel random-walk-based graph clustering method. The proposed method restricts the reach of the…
We study a problem of scheduling real-time traffic with hard delay constraints in an unreliable wireless channel. Packets arrive at a constant rate to the network and have to be delivered within a fixed number of slots in a fading wireless…
We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…
Mobile guards on the vertices of a graph are used to defend it against attacks on either its vertices or its edges. Various models for this problem have been proposed. In this survey we describe a number of these models with particular…
The security issue of mobile robots has attracted considerable attention in recent years. In this paper, we propose an intelligent physical attack to trap mobile robots into a preset position by learning the obstacle-avoidance mechanism…
This work addresses the challenge of patrolling regular grid graphs of any dimension using a single mobile agent with minimal memory and limited sensing range. We show that it is impossible to patrol some grid graphs with $0$ bits of…
We study a generalized motion planning problem involving multiple autonomous robots navigating in a $d$-dimensional Euclidean space in the presence of a set of obstacles whose positions are unknown a priori. Each robot is required to visit…
A hybrid map representation, which consists of a modified generalized Voronoi Diagram (GVD)-based topological map and a grid-based metric map, is proposed to facilitate a new frontier-driven exploration strategy. Exploration frontiers are…
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…
We explore an Art Gallery variant where each point of a polygon must be seen by k guards, and guards cannot see through other guards. Surprisingly, even covering convex polygons under this variant is not straightforward. For example,…
Algorithmic approaches to exhaustive coverage have application in video games, enabling automatic game level exploration. Current designs use simple heuristics that frequently result in poor performance or exhibit unnatural behaviour. In…