Related papers: Partitioning Strategies and Task Allocation for Ta…
We introduce the concept of continuous transportation task to the context of multi-agent systems. A continuous transportation task is one in which a multi-agent team visits a number of fixed locations, picks up objects, and delivers them to…
Many localization algorithms and systems have been developed by means of wireless sensor networks for both indoor and outdoor environments. To achieve higher localization accuracy, extra hardware equipments are utilized by most of the…
We consider the problem of using an autonomous agent to persistently monitor a collection of dynamic targets distributed in an environment. We generalize existing work by allowing the agent's dynamics to vary throughout the environment,…
There is a growing interest in the use of video sensor networks in surveillance applications in order to detect intruders with low cost. The essential concern of such networks is whether or not a specified target can pass or intrude the…
In the continuous 1.5-dimensional terrain guarding problem we are given an $x$-monotone chain (the \emph{terrain} $T$) and ask for the minimum number of point guards (located anywhere on $T$), such that all points of $T$ are covered by at…
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,…
A common sensing problem is to use a set of stationary tracking locations to monitor a collection of moving devices: Given $n$ objects that need to be tracked, each following its own trajectory, and $m$ stationary traffic control stations,…
This paper introduces a multirobot cooperation approach to solve the "pursuit evasion" problem for mobile robots that have omnidirectional vision sensors. The main characteristic of this approach is to implement a real cooperation between…
To overcome the problem of occlusion in visual tracking, this paper proposes an occlusion-aware tracking algorithm. The proposed algorithm divides the object into discrete image patches according to the pixel distribution of the object by…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
Given a mapped environment, we formulate the problem of visually tracking and following an evader using a probabilistic framework. In this work, we consider a non-holonomic robot with a limited visibility depth sensor in an indoor…
Visibility plays an important role for decision making in cluttered, uncertain environments. This paper considers the problem of identifying optimal hiding spots for an agent against line-of-sight detection by an adversary whose location is…
We consider a pursuit-evasion problem with a heterogeneous team of multiple pursuers and multiple evaders. Although both the pursuers (robots) and the evaders are aware of each others' control and assignment strategies, they do not have…
The growing demand for intelligent environments unleashes an extraordinary cycle of privacy-aware applications that makes individuals' life more comfortable and safe. Examples of these applications include pedestrian tracking systems in…
We consider the spatial classification problem for monitoring using data collected by a coordinated team of mobile robots. Such classification problems arise in several applications including search-and-rescue and precision agriculture.…
Future applications in environmental monitoring, delivery of services and transportation of goods motivate the study of deployment and partitioning tasks for groups of autonomous mobile agents. These tasks are achieved by recent coverage…
Electric power grid components, such as high voltage transformers (HVTs), generating stations, substations, etc. are expensive to maintain and, in the event of failure, replace. Thus, regularly monitoring the behavior of such components is…
We consider a variant of the art gallery problem where all guards are limited to seeing to the right inside a monotone polygon. We call such guards: half-guards. We provide a polynomial-time approximation for point guarding the entire…
Sensor placement optimization methods have been studied extensively. They can be applied to a wide range of applications, including surveillance of known environments, optimal locations for 5G towers, and placement of missile defense…
The goal of this research is to devise guaranteed defense policies that allow to protect a given region from the entrance of smart mobile invaders by detecting them using a team of defending agents equipped with identical line sensors. By…