Related papers: Evacuating Equilateral Triangles and Squares in th…
We consider the following surveillance problem: Given a set $P$ of $n$ sites in a metric space and a set of $k$ robots with the same maximum speed, compute a patrol schedule of minimum latency for the robots. Here a patrol schedule…
There are $n\geq 3$ unit speed mobile agents placed at the origin of the infinite line. In as little time as possible, the agents must find and evacuate from an exit placed at an initially unknown location on the line. The agents can…
Let $\mathcal{W} \subset \mathbb{R}^2$ be a planar polygonal environment (i.e., a polygon potentially with holes) with a total of $n$ vertices, and let $A,B$ be two robots, each modeled as an axis-aligned unit square, that can translate…
To operate reactively in uncertain environments, robots need to be able to quickly estimate the risk that they will collide with their environment. This ability is important for both planning (to ensure that plans maintain acceptable levels…
We study an optimization problem that arises in the design of covering strategies for multi-robot systems. Consider a team of $n$ cooperating robots traveling along predetermined closed and disjoint trajectories. Each robot needs to…
Emergency evacuation describes a complex situation involving time-critical decision-making by evacuees. Mobile robots are being actively explored as a potential solution to provide timely guidance. In this work, we study a robot-guided…
A Differential Drive Robot (DDR) located inside a circular detection region in the plane wants to escape from it in minimum time. Various robotics applications can be modeled like the previous problem, such as a DDR escaping as soon as…
We study the algorithmic problem of optimally covering a tree with $k$ mobile robots. The tree is known to all robots, and our goal is to assign a walk to each robot in such a way that the union of these walks covers the whole tree. We…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
The Freeze-Tag Problem (FTP) involves activating a set of initially asleep robots as quickly as possible, starting from a single awake robot. Once activated, a robot can assist in waking up other robots. Each active robot moves at unit…
During the evacuation of a building, the rapid and accurate tracking of human evacuees can be used by a guide robot to increase the effectiveness of the evacuation [1],[2]. This paper introduces a near real-time human position tracking…
A mobile robot represented by a point moving in the plane has to explore an unknown terrain with obstacles. Both the terrain and the obstacles are modeled as arbitrary polygons. We consider two scenarios: the unlimited vision, when the…
Let $P$ be a convex polygon in the plane, and let $T$ be a triangulation of $P$. An edge $e$ in $T$ is called a diagonal if it is shared by two triangles in $T$. A flip of a diagonal $e$ is the operation of removing $e$ and adding the…
We study a new search problem on the plane involving a robot and an immobile treasure, initially placed at distance $1$ from each other. The length $\beta$ of an arc (a fence) within the perimeter of the corresponding circle, as well as the…
Planning time-optimal trajectories for quadrotors in cluttered environments is a challenging, non-convex problem. This paper addresses minimizing the traversal time of a given collision-free geometric path without violating bounds on…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
This work deals with the problem of gathering $n$ oblivious mobile entities, called robots, at a point (not known beforehand) placed on an infinite triangular grid. The robots are considered to be myopic, i.e., robots have limited…
Four new algorithms (RFTA1, RFTA2, GFGF2A, and RFTA2GE) handling the event in wireless sensor and robot networks based on the Greedy-Face-Greedy (GFG) routing extended with auctions are proposed in this paper. In this paper we assume that…
Following recent advances in combining approximation algorithms with fixed-parameter tractability (FPT), we study FPT-time approximation algorithms for minimum-norm $k$-clustering problems, parameterized by the number $k$ of open…
Let $G=(V,E)$ be a graph modelling a building or road network in which edges have-both travel times (lengths) and capacities associated with them. An edge's capacity is the number of people that can enter that edge in a unit of time. In…