Related papers: Optimal Perimeter Guarding with Heterogeneous Robo…
We consider the problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time spent there. We…
Team Coordination on Graphs with Risky Edges (\textsc{tcgre}) is a recently proposed problem, in which robots find paths to their goals while considering possible coordination to reduce overall team cost. However, \textsc{tcgre} assumes…
We consider an interval coverage problem. Given $n$ intervals of the same length on a line $L$ and a line segment $B$ on $L$, we want to move the intervals along $L$ such that every point of $B$ is covered by at least one interval and the…
A segment (barrier) is specified on the plane, as well as depots, where the mobile devices (drones) can be placed. Each drone departs from its depot to the barrier, moves along the barrier and returns to its depot, traveling a path of a…
Multi-robot systems performing continuous tasks face a performance trade-off when interrupted by urgent, time-critical sub-tasks. We investigate this trade-off in a scenario where a team must balance area patrolling with locating an…
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…
The problem of adversarial multi-robot patrol has gained interest in recent years, mainly due to its immediate relevance to various security applications. In this problem, robots are required to repeatedly visit a target area in a way that…
Time Optimal Path Parametrization is the problem of minimizing the time interval during which an actuation constrained agent can traverse a given path. Recently, an efficient linear-time algorithm for solving this problem was proposed.…
Constrained submodular set function maximization problems often appear in multi-agent decision-making problems with a discrete feasible set. A prominent example is the problem of multi-agent mobile sensor placement over a discrete domain.…
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…
Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots…
In the uniformity testing task, an algorithm is provided with samples from an unknown probability distribution over a (known) finite domain, and must decide whether it is the uniform distribution, or, alternatively, if its total variation…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
RecentadvancesinDistributedComputinghighlightmodelsandalgo- rithms for autonomous swarms of mobile robots that self-organize and cooperate to solve global objectives. The overwhelming majority of works so far considers handmade algorithms…
Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots' viewpoints. It also makes traditional…
In this paper, we consider the Constant-cost Orienteering Problem (COP) where a robot, constrained by a limited travel budget, aims at selecting a path with the largest reward in an aisle-graph. The aisle-graph consists of a set of loosely…
In this paper, we consider the problem of optimally allocating tasks, expressed as global Linear Temporal Logic (LTL) specifications, to teams of heterogeneous mobile robots. The robots are classified in different types that capture their…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
In this paper, we first remodel the line coverage as a 1D discrete problem with co-linear targets. Then, an order-based greedy algorithm, called OGA, is proposed to solve the problem optimally. It will be shown that the existing order in…
Model predictive control (MPC) has shown great success for controlling complex systems such as legged robots. However, when closing the loop, the performance and feasibility of the finite horizon optimal control problem (OCP) solved at each…