Related papers: Guarding a Polygon Without Losing Touch
We consider the problem of locating a facility on a network, represented by a graph. A set of strategic agents have different ideal locations for the facility; the cost of an agent is the distance between its ideal location and the…
This paper considers the Hamiltonian walk problem in the multi-agent coordination framework, referred to as $k$-agents Hamiltonian walk problem ($k$-HWP). In this problem, a set of $k$ connected agents collectively compute a spanning walk…
We study the problem of allocating many mobile robots for the execution of a pre-defined sweep schedule in a known two-dimensional environment, with applications toward search and rescue, coverage, surveillance, monitoring, pursuit-evasion,…
In this work we study a multi-agent coordination problem in which agents are only able to communicate with each other intermittently through a cloud server. To reduce the amount of required communication, we develop a self-triggered…
We introduce the notion of a normal gallery, a gallery in which any configuration of guards that visually covers the walls covers the entire gallery. We show that any star gallery is normal and any gallery with at most two reflex corners is…
Sequential allocation is a simple and widely studied mechanism to allocate indivisible items in turns to agents according to a pre-specified picking sequence of agents. At each turn, the current agent in the picking sequence picks its most…
We consider a problem where multiple agents must learn an action profile that maximises the sum of their utilities in a distributed manner. The agents are assumed to have no knowledge of either the utility functions or the actions and…
We propose a distributed algorithm to solve a dynamic programming problem with multiple agents, where each agent has only partial knowledge of the state transition probabilities and costs. We provide consensus proofs for the presented…
Given a polygon $H$ in the plane, the art gallery problem calls for fining the smallest set of points in $H$ from which every other point in $H$ is seen. We give a deterministic algorithm that, given any polygon $H$ with $h$ holes, $n$…
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 study a general scenario where confidential information is distributed among a group of agents who wish to share it in such a way that the data becomes common knowledge among them but an eavesdropper intercepting their communications…
We propose a method that allows to develop shared understanding between two agents for the purpose of performing a task that requires cooperation. Our method focuses on efficiently establishing successful task-oriented communication in an…
In many problems, agents cooperate locally so that a leader or fusion center can infer the state of every agent from probing the state of only a small number of agents. Versions of this problem arise when a fusion center reconstructs an…
We consider the problem of collective exploration of a known $n$-node edge-weighted graph by $k$ mobile agents that have limited energy but are capable of energy transfers. The agents are initially placed at an arbitrary subset of nodes in…
Embodied agents, trained to explore and navigate indoor photorealistic environments, have achieved impressive results on standard datasets and benchmarks. So far, experiments and evaluations have involved domestic and working scenes like…
We study the problems of covering or partitioning a polygon $P$ (possibly with holes) using a minimum number of small pieces, where a small piece is a connected sub-polygon contained in an axis-aligned unit square. For covering, we seek to…
Terrain Guarding Problem(TGP), which is known to be NP-complete, asks to find a smallest set of guard locations on a terrain $T$ such that every point on $T$ is visible by a guard. Here, we study this problem on 1.5D orthogonal terrains…
In this paper, we study the problem of distributed multi-agent optimization over a network, where each agent possesses a local cost function that is smooth and strongly convex. The global objective is to find a common solution that…
Let an orthogonal polyhedron be the union of a finite set of boxes in $\mathbb R^3$ (i.e., cuboids with edges parallel to the coordinate axes), whose surface is a connected 2-manifold. We study the NP-complete problem of guarding a…
Effective security patrol management is critical for ensuring safety in diverse environments such as art galleries, airports, and factories. The behavior of patrols in these situations can be modeled by patrolling games. They simulate the…