Related papers: Efficient Algorithms for Optimal Perimeter Guardin…
We perform structural and algorithmic studies of significantly generalized versions of the optimal perimeter guarding (OPG) problem. As compared with the original OPG where robots are uniform, in this paper, many mobile robots with…
We investigate the problem of using mobile robots equipped with 2D range sensors to optimally guard perimeters or regions, i.e., 1D or 2D sets. Given such a set of arbitrary shape to be guarded, and $k$ mobile sensors where the $i$-th…
Terrain Guarding Problem(TGP), which is known to be NP-complete, asks to find a smallest set of guard locations on a terrain $T$ such that every point on $T$ is visible by a guard. Here, we study this problem on 1.5D orthogonal terrains…
We study the problem of allocating many mobile robots for the execution of a pre-defined sweep schedule in a known two-dimensional environment, with applications toward search and rescue, coverage, surveillance, monitoring, pursuit-evasion,…
The protection of pathways holds immense significance across various domains, including urban planning, transportation, surveillance, and security. This article introduces a groundbreaking approach to safeguarding pathways by employing…
In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…
We study the problem of guarding the boundary of a simple polygon with a minimum number of guards such that each guard covers a contiguous portion of the boundary. First, we present a simple greedy algorithm for this problem that returns a…
This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find the shortest path to observe multiple targets with a limited…
This paper addresses the complete area coverage problem of a known environment by multiple-robots. Complete area coverage is the problem of moving an end-effector over all available space while avoiding existing obstacles. In such tasks,…
This paper studies the problem of defending (1D and 2D) boundaries against a large number of continuous attacks with a heterogeneous group of defenders. The defender team has perfect information of the attack events within some time (finite…
The task of maximizing coverage using multiple robots has several applications such as surveillance, exploration, and environmental monitoring. A major challenge of deploying such multi-robot systems in a practical scenario is to ensure…
We consider a perimeter defense problem in a planar conical environment in which a single vehicle, having a finite capture radius, aims to defend a concentric perimeter from mobile intruders. The intruders are arbitrarily released at the…
Building structures can allow a robot to surmount large obstacles, expanding the set of areas it can reach. This paper presents a planning algorithm to automatically determine what structures a construction-capable robot must build in order…
Consider a team of $k \leq n$ autonomous mobile robots initially placed at a node of an arbitrary graph $G$ with $n$ nodes. The dispersion problem asks for a distributed algorithm that allows the robots to reach a configuration in which…
We provide an O(log log OPT)-approximation algorithm for the problem of guarding a simple polygon with guards on the perimeter. We first design a polynomial-time algorithm for building epsilon-nets of size O(1/epsilon log log 1/epsilon) for…
This paper presents an algorithm to deploy a team of {\it free} guards equipped with omni-directional cameras for tracking a bounded speed intruder inside a simply-connected polygonal environment. The proposed algorithm partitions the…
We propose precise notions of what it means to guard a domain "robustly", under a variety of models. While approximation algorithms for minimizing the number of (precise) point guards in a polygon is a notoriously challenging area of…
In this paper, we consider the 1.5-dimensional orthogonal terrain guarding problem. In this problem, we assign an x-monotone chain T because each edge is either horizontal or vertical, and determine the minimal number of vertex guards for…
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…
We consider a perimeter defense problem in a planar conical environment comprising a single turret that has a finite range and non-zero service time. The turret seeks to defend a concentric perimeter against $N\geq 2$ intruders. Upon…