Related papers: Partitioning Strategies and Task Allocation for Ta…
The hunter and gatherer approach copes with the problem of dynamic multi-robot task allocation, where tasks are unknowingly distributed over an environment. This approach employs two complementary teams of agents: one agile in exploring…
Modern GPU applications, such as machine learning (ML), can only partially utilize GPUs, leading to GPU underutilization in cloud environments. Sharing GPUs across multiple applications from different tenants can improve resource…
We consider a variant of the target defense problem where a single defender is tasked to capture a sequence of incoming intruders. The intruders' objective is to breach the target boundary without being captured by the defender. As soon as…
The Searchlight Scheduling Problem was first studied in 2D polygons, where the goal is for point guards in fixed positions to rotate searchlights to catch an evasive intruder. Here the problem is extended to 3D polyhedra, with the guards…
An autonomous robot with a limited vision range finds a path to the goal in an unknown environment in 2D avoiding polygonal obstacles. In the process of discovering the environmental map, the robot has to return to some positions marked…
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…
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 paper presents planning algorithms for a robotic manipulator with a fixed base in order to grasp a target object in cluttered environments. We consider a configuration of objects in a confined space with a high density so no…
This paper provides a new solution approach to a multi-player perimeter defense game, in which the intruders' team tries to enter the territory, and a team of defenders protects the territory by capturing intruders on the perimeter of the…
The problem of adversarial multi-robot patrol has gained interest in recent years, mainly due to its immediate relevance to various security applications. In this problem, robots are required to repeatedly visit a target area in a way that…
Multi robot teams composed by ground and aerial vehicles have gained attention during the last years. We present a scenario where both types of robots must monitor the same area from different view points. In this paper we propose two…
We introduce a pursuit game played between a team of a sensor and an attacker and a mobile target in the unbounded Euclidean plane. The target is faster than the sensor, but slower than the attacker. The sensor's objective is to keep the…
We consider the problem of tracking a group of mobile nodes with limited available computational and energy resources given noisy RSSI measurements and position estimates from group members. The multilateration solutions are known for…
In order to track the moving objects in long range against occlusion, interruption, and background clutter, this paper proposes a unified approach for global trajectory analysis. Instead of the traditional frame-by-frame tracking, our…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
In this paper, we study how to secure the platooning of autonomous vehicles when an unknown vehicle is under attack and bounded system uncertainties exist. For the attacked vehicle, its position and speed measurements from GPS can be…
With the increasing use of robots in daily life, there is a growing need to provide robust collaboration protocols for robots to tackle more complicated and dynamic problems effectively. This paper presents a novel, factor graph-based…
We consider a perimeter defense problem in which a single vehicle seeks to defend a compact region from intruders in a one-dimensional environment parameterized by the perimeter size and the intruder-to-vehicle speed ratio. The intruders…
In the current era of the industrial revolution, mobile robots are playing a pivotal role in helping out mankind in many complex and hazardous environments for performing tasks like search and rescue, obstacle avoidance, mining and security…
We consider a variant of the target defense problem where a single defender is tasked to capture a sequence of incoming intruders. Both the defender and the intruders have non-holonomic dynamics. The intruders' objective is to breach the…