Related papers: Spiral Sweeping Search for Smart Evaders
Trajectory clustering is an important operation of knowledge discovery from mobility data. Especially nowadays, the need for performing advanced analytic operations over massively produced data, such as mobility traces, in efficient and…
Consistent maps are key for most autonomous mobile robots, and they often use SLAM approaches to build such maps. Loop closures via place recognition help to maintain accurate pose estimates by mitigating global drift, and are thus key for…
The planning and control of a robot swarm in a complex environment have attracted increasing attention. To this end, the idea of virtual tubes has been taken up in our previous work. Specifically, a virtual tube with varying widths has been…
In this paper, we address the problem of safe trajectory planning for autonomous search and exploration in constrained, cluttered environments. Guaranteeing safe (collision-free) trajectories is a challenging problem that has garnered…
Suppose that ball-shaped sensors wander in a bounded domain. A sensor doesn't know its location but does know when it overlaps a nearby sensor. We say that an evasion path exists in this sensor network if a moving intruder can avoid…
The evader's dominance region is an important concept and the foundation of geometric methods for pursuit-evasion games. This article mainly reveals the relevant properties of the evader's dominance region, especially in non-anticipative…
Unlike squared (or alike) quadrotors, elongated bi-copters leverage natural superiority in crossing tight spaces. To date, extensive works have focused on the design, modeling, and control of bi-copters. Besides, a proper motion planner…
This paper presents a framework for converting wireless signals into structured datasets, which can be fed into machine learning algorithms for the detection of active eavesdropping attacks at the physical layer. More specifically, a…
Learning motion planners to move robot from one point to another within an obstacle-occupied space in a collision-free manner requires either an extensive amount of data or high-quality demonstrations. This requirement is caused by the fact…
Objectives: Negative splitting (i.e., finishing the race faster) is a tactic commonly employed by elite marathon athletes, even though research supporting the strategy is scarce. The presence of pacers allows the main runner to run behind a…
Often the challenge associated with tasks like fraud and spam detection[1] is the lack of all likely patterns needed to train suitable supervised learning models. In order to overcome this limitation, such tasks are attempted as outlier or…
We propose an algorithm for constructing efficient patrolling strategies in the Internet environment, where the protected targets are nodes connected to the network and the patrollers are software agents capable of detecting/preventing…
Sweeping is a powerful and versatile method of designing objects. Boundary of volumes (henceforth envelope) obtained by sweeping solids have been extensively investigated in the past, though, obtaining an accurate parametrization of the…
Widespread development of driverless vehicles has led to the formation of autonomous racing, where technological development is accelerated by the high speeds and competitive environment of motorsport. A particular challenge for an…
Agents operating in physical environments need to be able to handle delays in the input and output signals since neither data transmission nor sensing or actuating the environment are instantaneous. Shields are correct-by-construction…
We consider a game played between a hider, who hides a static object in one of several possible positions in a bounded planar region, and a searcher, who wishes to reach the object by querying sensors placed in the plane. The searcher is a…
For the task of moving a set of indistinguishable agents on a connected graph with unit edge distance to an arbitrary set of goal vertices, free of collisions, we propose a fast distance optimal control algorithm that guides the agents into…
One of the most important barriers toward a widespread use of mobile robots in unstructured and human populated work environments is the ability to plan a safe path. In this paper, we propose to delegate this activity to a human operator…
Searching for concealed threats within a surveillance region is an important role for military sensors. One prominent case is the search for a submarine by a helicopter deploying a dipping sonar in anti-submarine warfare. Another is the…
Fast and reliable trajectory planning is a key requirement of autonomous vehicles. In this paper we introduce a novel technique for planning the route of an autonomous vehicle on a straight rural road using the Spin model checker. We show…