Related papers: Cooperative Periodic Coverage With Collision Avoid…
In this work we propose a coverage planning control approach which allows a mobile agent, equipped with a controllable sensor (i.e., a camera) with limited sensing domain (i.e., finite sensing range and angle of view), to cover the surface…
We study a continuous-time, infinite-horizon dynamic bipartite matching problem. Suppliers arrive according to a Poisson process; while waiting, they may abandon the queue at a uniform rate. Customers on the other hand must be matched upon…
Collision avoidance requires tradeoffs in planning time horizons. Depending on the planner, safety cannot always be guaranteed in uncertain environments given map updates. To mitigate situations where the planner leads the vehicle into a…
We study a new formulation of the team-formation problem, where the goal is to form teams to work on a given set of tasks requiring different skills. Deviating from the classic problem setting where one is asking to cover all skills of each…
We revisit the static coverage control problem for placement of vehicles with simple motion on the real line, under the assumption that the cost is a polynomial function of the locations of the vehicles. The main contribution of this paper…
This paper considers a two-dimensional persistent monitoring problem by controlling movements of second-order agents to minimize some uncertainty metric associated with targets in a dynamic environment. In contrast to common sensing models…
Traditional task assignment approaches for multi-agent motion control do not take the possibility of collisions into account. This can lead to challenging requirements for path planning. We derive an assignment method that not only…
We examine the problem of gathering $k \geq 2$ agents (or multi-agent rendezvous) in dynamic graphs which may change in every synchronous round but remain always connected ($1$-interval connectivity) [KLO10]. The agents are identical and…
We propose a distributed control algorithm for a multi-agent network whose agents deploy over a cluttered region in accordance with a time-varying coverage density function while avoiding collisions with all obstacles they encounter. Our…
In this paper, we develop a systematic framework for the time-sequential compression of dynamic probabilistic occupancy grids. Our approach leverages ideas from signal compression theory to formulate an optimization problem that searches…
We consider the problem of determining the optimal composition of a heterogeneous multi-agent team for coverage problems by including costs associated with different agents and subject to an upper bound on the maximal allowable number of…
6G networks require a flexible infrastructure to dynamically provide ubiquitous network coverage. Mobile Access Points (MAP) deployment is a promising solution. In this paper, we formulate the joint 3D MAP deployment and user association…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in…
$\delta$-Covering, for some covering range $\delta>0$, is a continuous facility location problem on undirected graphs where all edges have unit length. The facilities may be positioned on the vertices as well as on the interior of the…
We propose an optimal control framework for persistent monitoring problems where the objective is to control the movement of mobile nodes to minimize an uncertainty metric in a given mission space. For multi agent in a one-dimensional…
Given a line segment $I=[0,L]$, the so-called barrier, and a set of $n$ sensors with varying ranges positioned on the line containing $I$, the barrier coverage problem is to move the sensors so that they cover $I$, while minimising the…
This paper systematically studies the cooperative area coverage and target tracking problem of multiple-unmanned aerial vehicles (multi-UAVs). The problem is solved by decomposing into three sub-problems: information fusion, task…
This paper introduces a new mobile sensor scheduling problem, involving a single robot tasked with monitoring several events of interest that occur at different locations. Of particular interest is the monitoring of transient events that…
Cooperative driving at signal-free intersections, which aims to improve driving safety and efficiency for connected and automated vehicles, has attracted increasing interest in recent years. However, existing cooperative driving strategies…
Multi-Agent Route Planning considers selecting vehicles, each associated with a single predefined route, such that the spatial coverage of a road network is increased while redundant overlaps are limited. This paper gives a formal problem…