Related papers: Guarding a Polygon Without Losing Touch
We are given an equal number of mobile robotic agents, and distinct target locations. Each agent has simple integrator dynamics, a limited communication range, and knowledge of the position of every target. We address the problem of…
We consider the fair allocation of indivisible items to several agents and add a graph theoretical perspective to this classical problem. Namely, we introduce an incompatibility relation between pairs of items described in terms of a…
We study the Art Gallery Problem for face guards in polyhedral environments. The problem can be informally stated as: how many (not necessarily convex) windows should we place on the external walls of a dark building, in order to completely…
Given a geometric domain $P$, visibility-based search problems seek routes for one or more mobile agents ("watchmen") to move within $P$ in order to be able to see a portion (or all) of $P$, while optimizing objectives, such as the…
Distributed gathering algorithms aim to achieve complete visibility graphs via a "never lose a neighbour" policy. We suggest a method to maintain connected graph topologies, while reducing the number of effective edges in the graph to order…
We investigate the problem of optimally assigning a large number of robots (or other types of autonomous agents) to guard the perimeters of closed 2D regions, where the perimeter of each region to be guarded may contain multiple disjoint…
Motivated by secure wireless networking, we consider the problem of placing fixed localizers that enable mobile communication devices to prove they belong to a secure region that is defined by the interior of a polygon. Each localizer views…
In this paper, we investigate a multi-agent target guarding problem in which a single defender seeks to capture multiple attackers aiming to reach a high-value target area. In contrast to previous studies, the attackers herein are assumed…
We consider the following distributed pursuit-evasion problem. A team of mobile agents called searchers starts at an arbitrary node of an unknown $n$-node network. Their goal is to execute a search strategy that guarantees capturing a fast…
This report surveys results on distributed systems comprising mobile agents that are identical and anonymous, oblivious and interact solely by adjusting their motion according to the relative location of their neighbours. The agents are…
The chosen tool of this thesis is an extremal type approach. The lesson drawn by the theorems proved in the thesis is that surprisingly small compromise is necessary on the efficacy of the solutions to make the approach work. The problems…
Learning in games provides a powerful framework to design control policies for self-interested agents that may be coupled through their dynamics, costs, or constraints. We consider the case where the dynamics of the coupled system can be…
In this work, it is presented the development of a novel distributed algorithm performing robotic coverage, clustering and dispatch around an event in static-obstacle structured environments without relying on metric information.…
We prove that every simply connected orthogonal polygon of $n$ vertices can be partitioned into $\left\lfloor\frac{3 n +4}{16}\right\rfloor$ (simply connected) orthogonal polygons of at most 8 vertices. It yields a new and shorter proof of…
Let $P$ be a simple polygon, then the art gallery problem is looking for a minimum set of points (guards) that can see every point in $P$. We say two points $a,b\in P$ can see each other if the line segment $seg(a,b)$ is contained in $P$.…
The classical multi-agent rendezvous problem asks for a deterministic algorithm by which $n$ points scattered in a plane can move about at constant speed and merge at a single point, assuming each point can use only the locations of the…
We study the problem of optimally inspecting an underground (underwater) gallery with k agents. We consider a gallery with a single opening and with a tree topology rooted at the opening. Due to the small diameter of the pipes (caves), the…
A team of mobile agents, starting from distinct nodes of a network, have to meet at the same node and declare that they all met. Agents execute the same algorithm, which they start when activated by an adversary or by an agent entering…
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 study the house allocation problem in a setting where agents are connected by a graph representing friendships. In this model, two agents can only envy each other if they are neighbors (i.e., friends) in the graph. Each agent has a set…