Related papers: Gathering with extremely restricted visibility
It is essential for a robot to be able to detect revisits or loop closures for long-term visual navigation.A key insight explored in this work is that the loop-closing event inherently occurs sparsely, that is, the image currently being…
Robots will increasingly operate near humans that introduce uncertainties in the motion planning problem due to their complex nature. Typically, chance constraints are introduced in the planner to optimize performance while guaranteeing…
Graph-based clustering methods have demonstrated the effectiveness in various applications. Generally, existing graph-based clustering methods first construct a graph to represent the input data and then partition it to generate the…
In motion planning problems for autonomous robots, such as self-driving cars, the robot must ensure that its planned path is not in close proximity to obstacles in the environment. However, the problem of evaluating the proximity is…
Robots with lights is a model of autonomous mobile computational entities operating in the plane in Look-Compute-Move cycles: each agent has an externally visible light which can assume colors from a fixed set; the lights are persistent…
Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…
The general position problem for graphs asks for the largest number of vertices in a subset $S \subseteq V(G)$ of a graph $G$ such that for any $u,v \in S$ and any shortest $u,v$-path $P$ we have $S \cap V(P) = \{ u,v\} $, whereas the…
In this paper, we study the cooperative set tracking problem for a group of Lagrangian systems. Each system observes a convex set as its local target. The intersection of these local sets is the group aggregation target. We first propose a…
In this paper we are concerned with multiscale modeling, control, and simulation of self-organizing agents leaving an unknown area under limited visibility, with special emphasis on crowds. We first introduce a new microscopic model…
The task of rendezvous (also called {\em gathering}) calls for a meeting of two or more mobile entities, starting from different positions in some environment. Those entities are called mobile agents or robots, and the environment can be a…
In collective motion, perceptually-limited individuals move in an ordered manner, without centralized control. The perception of each individual is highly localized, as is its ability to interact with others. While natural collective motion…
We consider the problem of completely covering an unknown discrete environment with a swarm of asynchronous, frequently-crashing autonomous mobile robots. We represent the environment by a discrete graph, and task the robots with occupying…
Many distributed learning techniques have been motivated by the increasing size of datasets and their inability to fit into main memory on a single machine. We propose an algorithm that finds the nearest neighbor in a graph locally without…
This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems involve multiple, similar-geometry objects placed on a flat, horizontal surface,…
This paper studies a scheduling problem in a parallel machine setting, where each machine must adhere to a predetermined fixed order for processing the jobs. Given $n$ jobs, each with processing times and deadlines, we aim to minimize the…
We study the problem of optimal traffic prediction and monitoring in large-scale networks. Our goal is to determine which subset of K links to monitor in order to "best" predict the traffic on the remaining links in the network. We consider…
This article concerns an optimal crowd motion control problem in which the crowd features a structure given by its organization into N groups (participants) each one spatially confined in a set. The overall optimal control problem consists…
The graph matching optimization problem is an essential component for many tasks in computer vision, such as bringing two deformable objects in correspondence. Naturally, a wide range of applicable algorithms have been proposed in the last…
Primal-dual methods for solving convex optimization problems with functional constraints often exhibit a distinct two-stage behavior. Initially, they converge towards a solution at a sublinear rate. Then, after a certain point, the method…
Rescheduling problems arise in a variety of situations where a previously planned schedule needs to be adjusted to deal with unforeseen events. A common problem is the arrival of new orders, i.e. jobs, which have to be integrated into the…