Related papers: Optimal Perimeter Guarding with Heterogeneous Robo…
In this letter, we study the optimum selection of ground stations (GSs) in RF/optical satellite networks (SatNets) in order to minimize the overall installation cost under an outage probability requirement, assuming independent weather…
In this paper, we study the problem of moving $n$ sensors on a line to form a barrier coverage of a specified segment of the line such that the maximum moving distance of the sensors is minimized. Previously, it was an open question whether…
In this paper we consider the problem of coordinating robotic systems with different kinematics, sensing and vision capabilities to achieve certain mission goals. An approach that makes use of a heterogeneous team of agents has several…
Multi-robot planning and coordination in uncertain environments is a fundamental computational challenge, since the belief space increases exponentially with the number of robots. In this paper, we address the problem of planning in…
We present a 4-approximation algorithm for the problem of placing a fewest guards on a 1.5D terrain so that every point of the terrain is seen by at least one guard. This improves on the currently best approximation factor of 5. Our method…
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 formulate and solve the intermittent deployment problem, which yields strategies that couple \emph{when} heterogeneous robots should sense an environmental process, with where a deployed team should sense in the…
We push the limit in planning collision-free motions for routing uniform labeled discs in two dimensions. First, from a theoretical perspective, we show that the constant-factor time-optimal routing of labeled discs can be achieved using a…
We study the problem of path planning for unlabeled (indistinguishable) unit-disc robots in a planar environment cluttered with polygonal obstacles. We introduce an algorithm which minimizes the total path length, i.e., the sum of lengths…
Generating time-optimal, collision-free trajectories for autonomous mobile robots involves a fundamental trade-off between guaranteeing safety and managing computational complexity. State-of-the-art approaches formulate spline-based motion…
Line coverage is to cover linear infrastructure modeled as 1D segments by robots, which received attention in recent years. With the increasing urbanization, the area of the city and the density of infrastructure continues to increase,…
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…
We present a new method for solving the hidden polynomial graph problem (HPGP) which is a special case of the hidden polynomial problem (HPP). The new approach yields an efficient quantum algorithm for the bivariate HPGP even when the input…
Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…
In this paper, we consider teams of robots with heterogeneous skills (e.g., sensing and manipulation) tasked with collaborative missions described by Linear Temporal Logic (LTL) formulas. These LTL-encoded tasks require robots to apply…
Coordinating time-sensitive deliveries in environments like hospitals poses a complex challenge, particularly when managing multiple online pickup and delivery requests within strict time windows using a team of heterogeneous robots.…
Recently, there has been increasing interest and progress in improvising the approximation algorithm for well-known NP-Complete problems, particularly the approximation algorithm for the Vertex-Cover problem. Here we have proposed a…
The goal of this paper is to set a constraint programming framework to solve lot-sizing problems. More specifically, we consider a single-item lot-sizing problem with time-varying lower and upper bounds for production and inventory. The…
This paper introduces a new mobile sensor scheduling problem, involving a single robot tasked with monitoring several events of interest that occur at different locations. Of particular interest is the monitoring of transient events that…
In this paper, we study the Online Network Formation Problem (ONFP) for a mobile multi-robot system. Consider a group of robots with a bounded communication range operating in a large open area. One of the robots has a piece of information…