Related papers: Partitioning Strategies and Task Allocation for Ta…
This paper addresses the problem of tracking moving objects of variable appearance in challenging scenes rich with features and texture. Reliable tracking is of pivotal importance in surveillance applications. It is made particularly…
A central problem of surveillance is to monitor multiple targets moving in a large-scale, obstacle-ridden environment with occlusions. This paper presents a novel principled Partially Observable Markov Decision Process-based approach to…
We consider a strategic network monitoring problem involving the operator of a networked system and an attacker. The operator aims to randomize the placement of multiple protected sensors to monitor and protect components that are…
The dispersion problem on graphs requires $k$ robots placed arbitrarily at the $n$ nodes of an anonymous graph, where $k \leq n$, to coordinate with each other to reach a final configuration in which each robot is at a distinct node of the…
With the advent of autonomous robots with two- and three-dimensional scanning capabilities, classical visibility-based exploration methods from computational geometry have gained in practical importance. However, real-life laser scanning of…
We study two sensor assignment problems for multi-target tracking with the goal of improving the observability of the underlying estimator. In the restricted version of the problem, we focus on assigning unique pairs of sensors to each…
Effective security patrol management is critical for ensuring safety in diverse environments such as art galleries, airports, and factories. The behavior of patrols in these situations can be modeled by patrolling games. They simulate the…
Teams of UGVs patrolling harsh and complex 3D environments can experience interference and spatial conflicts with one another. Neglecting the occurrence of these events crucially hinders both soundness and reliability of a patrolling…
This paper addresses distributed average tracking for a group of physical double-integrator agents under an undirected graph with reduced requirement on velocity measurements. The idea is that multiple agents track the average of multiple…
We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…
In the NP-hard continuous 1.5D Terrain Guarding Problem (TGP) we are given an $x$-monotone chain of line segments in $\mathbb{R}^2$ (the terrain $T$) and ask for the minimum number of guards (located anywhere on $T$) required to guard all…
This paper introduces a novel $k$-cell decomposition method for pursuit-evasion problems in polygonal environments, where a searcher is equipped with a $k$-modem: a device capable of seeing through up to $k$ walls. The proposed…
In this paper, we study the problem of distributed multi-agent optimization over a network, where each agent possesses a local cost function that is smooth and strongly convex. The global objective is to find a common solution that…
This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing/communication radius. Based on the…
The limited energy capacity of individual robotic agents in a swarm often limits the possible cooperative tasks they can perform. In this work, we investigate the problem of covering an unknown connected grid environment (e.g. a maze or…
We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…
This technical report addresses the problem of optimal surveillance of the route followed by a dynamic parade using a team of aerial robots. The dynamic parade is considered to take place within an urban environment, it is discretized and…
In this work a robust and scalable cooperative multi-agent searching and tracking framework is proposed. Specifically, we study the problem of cooperative searching and tracking of multiple moving targets by a group of autonomous mobile…
This paper presents a new algorithm to track mobile objects in different scene conditions. The main idea of the proposed tracker includes estimation, multi-features similarity measures and trajectory filtering. A feature set (distance,…
We present a multi-stage optimization method for efficient sensor deployment in traffic surveillance scenarios. Based on a genetic optimization scheme, our algorithm places an optimal number of roadside sensors to obtain full road coverage…