Related papers: Cooperative Periodic Coverage With Collision Avoid…
Geometric hitting set problems, in which we seek a smallest set of points that collectively hit a given set of ranges, are ubiquitous in computational geometry. Most often, the set is discrete and is given explicitly. We propose new…
We consider a class of multi-agent optimal coverage problems in which the goal is to determine the optimal placement of a group of agents in a given mission space so that they maximize a coverage objective that represents a blend of…
In the event of natural or man-made disasters in an urban environment, such as fires, floods, and earthquakes, a swarm of unmanned aerial vehicles (UAVs) can rapidly sweep and provide coverage to monitor the area of interest and locate…
Multiagent planning and coordination problems are common and known to be computationally hard. We show that a wide range of two-agent problems can be formulated as bilinear programs. We present a successive approximation algorithm that…
We consider fundamental scheduling problems motivated by energy issues. In this framework, we are given a set of jobs, each with a release time, deadline and required processing length. The jobs need to be scheduled on a machine so that at…
We describe the design and implementation of an autonomous adaptive software agent that addresses the practical problem of observing undersampled, periodic, time-varying phenomena using a network of HTN-compliant robotic telescopes. The…
Multi Agent Path Finding (MAPF) seeks the optimal set of paths for multiple agents from respective start to goal locations such that no paths conflict. We address the MAPF problem for a fleet of hybrid-fuel unmanned aerial vehicles which…
We present methods that generate cooperative strategies for multi-vehicle control problems using a decomposition approach. By introducing a set of tasks to be completed by the team of vehicles and a task execution method for each vehicle,…
Although a number of solutions exist for the problems of coverage, search and target localization---commonly addressed separately---whether there exists a unified strategy that addresses these objectives in a coherent manner without being…
We tackle the problem of non-preemptive periodic scheduling with a harmonic set of periods. Problems of this kind arise within domains of periodic manufacturing and maintenance, and also during the design of industrial, automotive, and…
It is always a challenging task for multi-agent systems to achieve efficient and robust coverage in uncertain environments. The absence of global positioning information on the uncertain environment introduces significant complexity to the…
The subject of this work is the patrolling of an environment with the aid of a team of autonomous agents. We consider both the design of open-loop trajectories with optimal properties, and of distributed control laws converging to optimal…
In this paper, we study a variant of the dynamic ridesharing problem with a specific focus on peak hours: Given a set of drivers and rider requests, we aim to match drivers to each rider request by achieving two objectives: maximizing the…
In recent years, the drive-by sensing paradigm has become increasingly popular for cost-effective monitoring of urban areas. Drive-by sensing is a form of crowdsensing wherein sensor-equipped vehicles (aka, mobile agents) are the primary…
Many municipalities and large organizations have fleets of vehicles that need to be coordinated for tasks such as garbage collection or infrastructure inspection. Motivated by this need, this paper focuses on the common subproblem in which…
Multi-Agent Path Finding (MAPF) is a fundamental motion coordination problem arising in multi-agent systems with a wide range of applications. The problem's intractability has led to extensive research on improving the scalability of…
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…
In this paper, we present a communication-free algorithm for distributed coverage of an arbitrary network by a group of mobile agents with local sensing capabilities. The network is represented as a graph, and the agents are arbitrarily…
This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find the shortest path to observe multiple targets with a limited…
A variant of the well-known Set Covering Problem is studied in this paper, where subsets of a collection have to be selected, and pairwise conflicts among subsets of items exist. The selection of each subset has a cost, and the inclusion of…