Related papers: Evacuating Two Robots from a Disk: A Second Cut
We propose distributed algorithms to automatically deploy a team of mobile robots to partition and provide coverage of a non-convex environment. To handle arbitrary non-convex environments, we represent them as graphs. Our partitioning and…
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…
This paper presents a distributed, optimal, communication-aware trajectory planning algorithm for multi-robot systems. Building on prior work, it addresses the multi-robot communication-aware trajectory planning problem using a general…
Deep learning models that perform well often have high computational costs. In this paper, we combine two approaches that try to reduce the computational cost while keeping the model performance high: pruning and early exit networks. We…
We investigate the problem of creating fast evacuation plans for buildings that are modeled as grid polygons, possibly containing exponentially many cells. We study this problem in two contexts: the ``confluent'' context in which the routes…
This paper examines different evacuation strategies for systems where several rooms evacuate trough the same means of egress, using microscopic pedestrian simulation.As a case study, a medium-rise office building is considered. It was found…
A dynamic path network is an undirected path with evacuees situated at each vertex. To evacuate the path, evacuees travel towards a designated sink (doorway) to exit. Each edge has a capacity, the number of evacuees that can enter the edge…
To investigate the evacuation behaviors of pedestrians considering action of the guard and develop an effective evacuation strategy in the artificial attack, an extended floor field model was proposed. In this model, the assault on…
We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…
In this work, we study the problem of dispersion of mobile robots on dynamic rings. The problem of dispersion of $n$ robots on an $n$ node graph, introduced by Augustine and Moses Jr. [1], requires robots to coordinate with each other and…
We give algorithms with running time $2^{O({\sqrt{k}\log{k}})} \cdot n^{O(1)}$ for the following problems. Given an $n$-vertex unit disk graph $G$ and an integer $k$, decide whether $G$ contains (1) a path on exactly/at least $k$ vertices,…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
Over the past few years, robotics simulators have largely improved in efficiency and scalability, enabling them to generate years of simulated data in a few hours. Yet, efficiently and accurately computing the simulation derivatives remains…
For a volume preserving map, the exit time, averaged over the incoming set of a region, is given by the ratio of the measure of the accessible subset of the region to that of the incoming set. This result is primarily of interest to show…
Deformable robots are notoriously difficult to model or control due to its high-dimensional configuration spaces. Direct trajectory optimization suffers from the curse-of-dimensionality and incurs a high computational cost, while…
For a set of robots (or agents) moving in a graph, two properties are highly desirable: confidentiality (i.e., a message between two agents must not pass through any intermediate agent) and efficiency (i.e., messages are delivered through…
In this paper, we look into the minimum obstacle displacement (MOD) planning problem from a mobile robot motion planning perspective. This problem finds an optimal path to goal by displacing movable obstacles when no path exists due to…
We present a method for effectively planning the motion trajectory of robots in manufacturing tasks, the tool-paths of which are usually complex and have a large number of discrete-time constraints as waypoints. Kinematic redundancy also…
In this work, we provide faster algorithms for approximating the optimal transport distance, e.g. earth mover's distance, between two discrete probability distributions $\mu, \nu \in \Delta^n$. Given a cost function $C : [n] \times [n] \to…
We consider the problem of robotic planning under uncertainty in this paper. This problem may be posed as a stochastic optimal control problem, a solution to which is fundamentally intractable owing to the infamous "curse of…