Related papers: Line Search for an Oblivious Moving Target
This paper addresses the visibility-based pursuit-evasion problem where a team of pursuer robots operating in a two-dimensional polygonal space seek to establish visibility of an arbitrarily fast evader. This is a computationally…
Autonomous mobile robots (e.g., warehouse logistics robots) often need to traverse complex, obstacle-rich, and changing environments to reach multiple fixed goals (e.g., warehouse shelves). Traditional motion planners need to calculate the…
We study the problem of reducing the amount of communication in decentralized target tracking. We focus on the scenario where a team of robots are allowed to move on the boundary of the environment. Their goal is to seek a formation so as…
In this paper, we investigate the optimal robot path planning problem for high-level specifications described by co-safe linear temporal logic (LTL) formulae. We consider the scenario where the map geometry of the workspace is…
We consider robust optimization problems, where the goal is to optimize an unknown objective function against the worst-case realization of an uncertain parameter. For this setting, we design a novel sample-efficient algorithm GP-MRO, which…
An oblivious mobile robot is a stateless computational entity located in a spatial universe, capable of moving in that universe. When activated, the robot observes the universe and the location of the other robots, chooses a destination,…
We study the problem of sorting under incomplete information, when queries are used to resolve uncertainties. Each of $n$ data items has an unknown value, which is known to lie in a given interval. We can pay a query cost to learn the…
This paper studies, for the first time, the trajectory planning problem in adversarial environments, where the objective is to design the trajectory of a robot to reach a desired final state despite the unknown and arbitrary action of an…
We consider a swarm of $n$ robots in \mathbb{R}^d. The robots are oblivious, disoriented (no common coordinate system/compass), and have limited visibility (observe other robots up to a constant distance). The basic formation task gathering…
This paper introduces a multirobot cooperation approach to solve the "pursuit evasion" problem for mobile robots that have omnidirectional vision sensors. The main characteristic of this approach is to implement a real cooperation between…
A set of mobile robots is placed at points of an infinite line. The robots are equipped with GPS devices and they may communicate their positions on the line to a central authority. The collection contains an unknown subset of "spies",…
We study a class of finite state machines, called \defi{$w$-matching machines}, which yield to simulate the behavior of pattern matching algorithms while searching for a pattern $w$. They can be used to compute the asymptotic speed, i.e.…
This paper proposes an inverse optimal control method which enables a robot to incrementally learn a control objective function from a collection of trajectory segments. By saying incrementally, it means that the collection of trajectory…
Path planning algorithms, such as the search-based A*, are a critical component of autonomous mobile robotics, enabling robots to navigate from a starting point to a destination efficiently and safely. We investigated the resilience of the…
As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…
Safe autonomous navigation in unknown environments remains a critical challenge for robots with limited sensing capabilities. While safety-critical control techniques, such as Control Barrier Functions (CBFs), have been proposed to ensure…
We consider the problem of multiple agents or robots searching for a target in the plane. This is motivated by Search and Rescue operations (SAR) in the high seas which in the past were often performed with several vessels, and more…
We consider the problem of navigating a mobile robot towards a target in an unknown environment that is endowed with visual sensors, where neither the robot nor the sensors have access to global positioning information and only use…
In this paper, we present a learning approach to goal assignment and trajectory planning for unlabeled robots operating in 2D, obstacle-filled workspaces. More specifically, we tackle the unlabeled multi-robot motion planning problem with…
In this paper, we have considered two fully synchronous $\mathcal{OBLOT}$ robots having no agreement on coordinates entering a finite unoriented grid through a door vertex at a corner, one by one. There is a resource that can move around…