Related papers: Progress on a perimeter surveillance problem
In the gathering problem, n autonomous robots have to meet on a single point. We consider the gathering of a closed chain of point-shaped, anonymous robots on a grid. The robots only have local knowledge about a constant number of…
We investigate a variation of the art gallery problem in which a team of mobile guards tries to track an unpredictable intruder in a simply-connected polygonal environment. In this work, we use the deployment strategy for diagonal guards…
This paper considers the distributed sampled-data control problem of a group of mobile robots connected via distance-induced proximity networks. A dwell time is assumed in order to avoid chattering in the neighbor relations that may be…
A general open problem in networking is: what are the fundamental limits to the performance that is achievable with some given amount of resources? More specifically, if each node in the network has information about only its $1$-hop…
When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…
This paper investigates the stochastic moving target encirclement problem in a realistic setting. In contrast to typical assumptions in related works, the target in our work is non-cooperative and capable of escaping the circle containment…
This paper presents a novel system for autonomous, vision-based drone racing combining learned data abstraction, nonlinear filtering, and time-optimal trajectory planning. The system has successfully been deployed at the first autonomous…
In this paper, we address tracking of a time-varying parameter with unknown dynamics. We formalize the problem as an instance of online optimization in a dynamic setting. Using online gradient descent, we propose a method that sequentially…
It is often necessary for drones to complete delivery, photography, and rescue in the shortest time to increase efficiency. Many autonomous drone races provide platforms to pursue algorithms to finish races as quickly as possible for the…
This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…
We present a new method for analyzing the running time of parallel evolutionary algorithms with spatially structured populations. Based on the fitness-level method, it yields upper bounds on the expected parallel running time. This allows…
In this paper, two cooperative guidance laws based on two-point boundary value are designed to deal with the problem of cooperative encirclement and simultaneous attack under condition of both known target acceleration and unknown target…
We consider the classical problem of making mobile processes gather or converge at a same position (as performed by swarms of animals in Nature). Existing works assume that each process can see all other processes, or all processes within a…
Coordination in a large number of networked robots is a challenging task, especially when robots are constantly moving around the environment and there are malicious attacks within the network. Various approaches in the literature exist for…
Theoreticians have studied distributed algorithms in the radio network model for close to three decades. A significant fraction of this work focuses on lower bounds for basic communication problems such as wake-up (symmetry breaking among…
The use of drones in logistics is gaining more and more interest, and drones are becoming a more viable and common way of distributing parcels in an urban environment. As a consequence, there is a flourishing production of articles in the…
We study the problem of monitoring distributed systems where computers communicate using message passing and share an almost synchronized clock. This is a realistic scenario for networks where the speed of the monitoring is sufficiently…
We introduce and study a new cooperative delivery problem inspired by drone-assisted package delivery. We consider a scenario where a drone, en route to deliver a package to a destination (a point on the plane), unexpectedly loses…
The gathering over meeting nodes problem asks the robots to gather at one of the pre-defined meeting nodes. The robots are deployed on the nodes of an anonymous two-dimensional infinite grid which has a subset of nodes marked as meeting…
This paper investigates online algorithms for smooth time-varying optimization problems, focusing first on methods with constant step-size, momentum, and extrapolation-length. Assuming strong convexity, precise results for the tracking…