Related papers: Minimizing Turns in Watchman Robot Navigation: Str…
Given an orthogonal polygon $ P $ with $ n $ vertices, the goal of the watchman route problem is finding a path $ S $ of the minimum length in $ P $ such that every point of the polygon $ P $ is visible from at least one of the point of $ S…
The well-known \textsc{Watchman Route} problem seeks a shortest route in a polygonal domain from which every point of the domain can be seen. In this paper, we study the cooperative variant of the problem, namely the \textsc{$k$-Watchmen…
We introduce the Observation Route Problem ($\textsf{ORP}$) defined as follows: Given a set of $n$ pairwise disjoint compact regions in the plane, find a shortest tour (route) such that an observer walking along this tour can see (observe)…
In this paper, we tackle the Multiple Watchman Route Problem (MWRP), which aims to find a set of paths that M watchmen can follow such that every location on the map can be seen by at least one watchman. First, we propose multiple methods…
The protection of pathways holds immense significance across various domains, including urban planning, transportation, surveillance, and security. This article introduces a groundbreaking approach to safeguarding pathways by employing…
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…
We present an $O(nrG)$ time algorithm for computing and maintaining a minimum length shortest watchman tour that sees a simple polygon under monotone visibility in direction $\theta$, while $\theta$ varies in $[0,180^{\circ})$, obtaining…
This paper deals with the problem of autonomous navigation of a mobile robot in an unknown 2D environment to fully explore the environment as efficiently as possible. We assume a terrestrial mobile robot equipped with a ranging sensor with…
Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…
In this paper, we consider the problem of planning a path for a robot to monitor a known set of features of interest in an environment. We represent the environment as a graph with vertex weights and edge lengths. The vertices represent…
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…
Given a set of $n$ point robots inside a simple polygon $P$, the task is to move the robots from their starting positions to their target positions along their shortest paths, while the mutual visibility of these robots is preserved.…
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…
This article considers two variants of a shortest path problem for a car-like robot visiting a set of waypoints. The sequence of waypoints to be visited is specified in the first variant while the robot is allowed to visit the waypoints in…
In this paper, we tackle the problem of planning an optimal coverage path for a robot operating indoors. Many existing approaches attempt to discourage turns in the path by covering the environment along the least number of coverage lines,…
Zero-Shot Object Navigation (ZSON) requires agents to navigate to objects specified via open-ended natural language without predefined categories or prior environmental knowledge. While recent methods leverage foundation models or…
In many applications, including underwater robotics, the coverage problem requires an autonomous vehicle to systematically explore a defined area while minimizing redundancy and avoiding obstacles. This paper investigates coverage path…
Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…
A watchman path is a path such that a direct line of sight exists between each point in some region and some point along the path. Here, we study the online watchman path problem outside a convex polygon, i.e., in $\mathbb{R}^2\setminus…