Related papers: Efficient Algorithms for Optimal Perimeter Guardin…
Multi-Robot Coverage problems have been extensively studied in robotics, planning and multi-agent systems. In this work, we consider the coverage problem when there are constraints on the proximity (e.g., maximum distance between the…
We consider the problem of searching for an intruder in a geometric domain by utilizing multiple search robots. The domain is a simply connected orthogonal polygon with edges parallel to the cartesian coordinate axes. Each robot has a…
This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…
This paper studies the problem of controlling a multi-robot system to achieve a polygon formation in a self-organized manner. Different from the typical formation control strategies where robots are steered to satisfy the predefined control…
Line coverage is the task of servicing a given set of one-dimensional features in an environment. It is important for the inspection of linear infrastructure such as road networks, power lines, and oil and gas pipelines. This paper…
Covering a bounded region with minimum number of homogeneous sensor nodes is a NP-complete problem \cite{Li09}. In this paper we have proposed an {\it id} based distributed algorithm for optimal coverage in an unbounded region. The proposed…
We study the problem of planning paths for a team of robots for visually monitoring an environment. Our work is motivated by surveillance and persistent monitoring applications. We are given a set of target points in a polygonal environment…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
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…
Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent…
We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient…
A defender dispatches patrollers to circumambulate a perimeter to guard against potential attacks. The defender decides on the time points to dispatch patrollers and each patroller's direction and speed, as long as the long-run rate…
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…
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…
This paper introduces a set of customizable and novel cost functions that enable the user to easily specify desirable robot formations, such as a ``high-coverage'' infrastructure-inspection formation, while maintaining high relative pose…
This paper addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or…
We present a novel algorithm for dynamic routing with dedicated path protection which, as the presented simulation results suggest, can be efficient and exact. We present the algorithm in the setting of optical networks, but it should be…
Optimization problems with drones are widely studied in a variety of civilian tasks, mainly due to their ability to traverse rough terrains and to carry cameras and other sensors for surveillance tasks. The limited battery life of these…
In a multi-robot system, a number of autonomous robots would sense, communicate, and decide to move within a given domain to achieve a common goal. In this paper, we consider a new variant of the pursuit-evasion problem in which the robots…
This paper considers deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic…