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In a multi-robot system, a number of autonomous robots would sense, communicate, and decide to move within a given domain to achieve a common goal. In this paper, we consider a new variant of the pursuit-evasion problem in which the robots…
We establish fundamental limits of tracking a moving target over the unit cube under the framework of 20 questions with measurement-dependent noise. In this problem, there is an oracle who knows the instantaneous location of a target. Our…
While guide dogs offer essential mobility assistance, their high cost, limited availability, and care requirements make them inaccessible to most blind or low vision (BLV) individuals. Recent advances in quadruped robots provide a scalable…
This paper addresses a multi-pursuer single-evader pursuit-evasion game where the free-moving evader moves faster than the pursuers. Most of the existing works impose constraints on the faster evader such as limited moving area and moving…
Cyclic pursuit frameworks, which are built upon pursuit interactions between neighboring agents in a cycle graph, provide an efficient way to create useful global behaviors in a collective of autonomous robots. Previous work had considered…
The accurate visual tracking of a moving object is a human fundamental skill that allows to reduce the relative slip and instability of the object's image on the retina, thus granting a stable, high-quality vision. In order to optimize…
A guiding robot aims to effectively bring people to and from specific places within environments that are possibly unknown to them. During this operation the robot should be able to detect and track the accompanied person, trying never to…
In recent years, motion capture technology using computers has developed rapidly. Because of its high efficiency and excellent performance, it replaces many traditional methods and is being widely used in many fields. Our project is about…
This paper investigates a modification of cyclic constant bearing (CB) pursuit in a multi-agent system in which each agent pays attention to a neighbor and a beacon. The problem admits shape equilibria with collective circling about the…
Time-varying coverage, namely sweep coverage is a recent development in the area of wireless sensor networks, where a small number of mobile sensors sweep or monitor comparatively large number of locations periodically. In this article we…
Two random processes X and Y on a metric space are said to be $\varepsilon$-shy coupled if there is positive probability of them staying at least a positive distance $\varepsilon$ apart from each other forever. Interest in the literature…
The dog-and-rabbit chase problem is a classical problem that illustrates the concepts of elementary kinematics and, therefore, can be used in introductory mechanics teaching. By dealing with the relative motion, the problem naturally…
We present the concept of speed maps: speed limits for mobile robots in human environments. Static speed maps allow for faster navigation on corridors while limiting the speed around corners and in rooms. Dynamic speed maps put limits on…
We study the problem of planning paths for a team of robots for visually monitoring an environment. Our work is motivated by surveillance and persistent monitoring applications. We are given a set of target points in a polygonal environment…
An underactuated nonholonomic Dubins-vehicle-like robot with a lower-limited turning radius travels with a constant speed in a plane, which hosts unknown complex objects. The robot has to approach and then circumnavigate all objects, with…
Some human-machine systems are designed so that machines (robots) gather and deliver data to remotely located operators (humans) through an interface in order to aid them in classification. The performance of a human as a (binary)…
The Fr\'echet distance is a similarity measure between two curves $A$ and $B$: Informally, it is the minimum length of a leash required to connect a dog, constrained to be on $A$, and its owner, constrained to be on $B$, as they walk…
In this paper, we have studied the control problem of target-point based path following for car-type vehicles. This special path following task arises from the needs of vision based guidance systems, where a given target-point located ahead…
The optimal control of a "blind" pursuer searching for an evader moving on a road network and heading at a known speed toward a set of goal vertices is considered. To aid the "blind" pursuer, certain roads in the network have been…
The study of the movement of flocks, whether biological or technological is motivated by the desire to understand the capability of coherent motion of a large number of agents that only receive very limited information. In a biological…