Related papers: Dynamic Connected Cooperative Coverage Problem
Given a graph $G = (V, E)$, a non-empty set $S \subseteq V$ is a defensive alliance, if for every vertex $v \in S$, the majority of its closed neighbours are in $S$, that is, $|N_G[v] \cap S| \geq |N_G[v] \setminus S|$. The decision version…
We consider the problem of finding a 1-planar drawing for a general graph, where a 1-planar drawing is a drawing in which each edge participates in at most one crossing. Since this problem is known to be NP-hard we investigate the…
Multi-agent path planning (MAPP) is the problem of planning collision-free trajectories from start to goal locations for a team of agents. This work explores a relatively unexplored setting of MAPP where streams of agents have to go through…
Covering problems belong to the foundation of graph theory. There are several types of covering problems in graph theory such as covering the vertex set by stars (domination problem), covering the vertex set by cliques (clique covering…
We consider the general problem of geometric task allocation, wherein a large, decentralised swarm of simple mobile agents must detect the locations of tasks in the plane and position themselves nearby. The tasks are represented by an a…
Given a dynamic network, where edges appear and disappear over time, we are interested in finding sets of edges that have similar temporal behavior and form a dense subgraph. Formally, we define the problem as the enumeration of the maximal…
Many complex questions in biology, physics, and mathematics can be mapped to the graph isomorphism problem and the closely related graph automorphism problem. In particular, these problems appear in the context of network visualization,…
This paper revisits two classical distributed problems in anonymous networks, namely spanning tree construction and topology recognition, from the point of view of graph covering theory. For both problems, we characterize necessary and…
Graph augmentation is a fundamental and well-studied problem that arises in network optimization. We consider a new variant of this model motivated by reconfigurable communication networks. In this variant, we consider a given physical…
Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…
The aim of this paper is to rigorously study dynamics of Heterogeneously Coupled Maps (HCM). Such systems are determined by a network with heterogeneous degrees. Some nodes, called hubs, are very well connected while most nodes interact…
This work investigates the coverage control problem over a static, compact, and convex workspace and develops a hybrid extension of the continuous-time Lloyd algorithm. Each agent in a multi-agent system (MAS) is equipped with a timer…
Given a graph $G$, the Connected Vertex Cover problem (CVC) asks to find a minimum cardinality vertex cover of $G$ that induces a connected subgraph. In this paper we describe some approaches to solve the CVC problem exactly. First, we give…
Many real-world networks such as social networks consist of strategic agents. The topology of these networks often plays a crucial role in determining the ease and speed with which certain information driven tasks can be accomplished.…
In this paper we consider the fundamental problem of finding subgraphs in highly dynamic distributed networks - networks which allow an arbitrary number of links to be inserted / deleted per round. We show that the problems of $k$-clique…
Many robotic applications, such as sanding, polishing, wiping and sensor scanning, require a manipulator to dexterously cover a surface using its end-effector. In this paper, we provide an efficient and effective coverage path planning…
Graph databases in many applications---semantic web, transport or biological networks among others---are not only large, but also frequently modified. Evaluating graph queries in this dynamic context is a challenging task, as those queries…
We present a sequential distributed model predictive control (MPC) scheme for cooperative control of multi-agent systems with dynamically decoupled heterogeneous nonlinear agents subject to individual constraints. In the scheme, we explore…
We investigate a variety of problems of finding tours and cycle covers with minimum turn cost. Questions of this type have been studied in the past, with complexity and approximation results as well as open problems dating back to work by…
This paper focuses on the multi-agent synchronization problem with an open-loop unstable leader and followers under the switching topologies. For this issue, the typical approach is intermittent communication (including a spanning tree…