Related papers: Cooperative Periodic Coverage With Collision Avoid…
We consider the problem of using an autonomous agent to persistently monitor a collection of dynamic targets distributed in an environment. We generalize existing work by allowing the agent's dynamics to vary throughout the environment,…
We consider geometric collision-detection problems for modular reconfigurable robots. Assuming the nodes (modules) are connected squares on a grid, we investigate the complexity of deciding whether collisions may occur, or can be avoided,…
We present a scalable and effective multi-agent safe motion planner that enables a group of agents to move to their desired locations while avoiding collisions with obstacles and other agents, with the presence of rich obstacles,…
This paper discusses the problem of covering and hitting a set of line segments $\cal L$ in ${\mathbb R}^2$ by a pair of axis-parallel squares such that the side length of the larger of the two squares is minimized. We also discuss the…
Road congestion in urban environments, especially near signalized intersections, has been a major cause of significant fuel and time waste. Various solutions have been proposed to solve the problem of increasing idling times and number of…
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as inequalities, which may depend on the positions of other agents…
This paper deals with the problem of preventive maintenance (PM) scheduling of pipelines subject to external corrosion defects. The preventive maintenance strategy involves an inspection step at some epoch, together with a repair schedule.…
This paper addresses the task of joint multi-agent perception and planning, especially as it relates to the real-world challenge of collision-free navigation for connected self-driving vehicles. For this task, several communication-enabled…
A simple and reliable algorithm for collision avoidance maneuvers (CAMs), capable of computing impulsive, multi-impulsive, and low-thrust maneuvers, is proposed. The probability of collision (PoC) is approximated by a polynomial of…
Path cover is a well-known intractable problem that finds a minimum number of vertex disjoint paths in a given graph to cover all the vertices. We show that a variant, where the objective function is not the number of paths but the number…
The quadratic cycle cover problem is the problem of finding a set of node-disjoint cycles visiting all the nodes such that the total sum of interaction costs between consecutive arcs is minimized. In this paper we study the linearization…
The main contribution of this paper is a methodology for multiple non-cooperating swarms of unmanned aerial vehicles to independently cover a common area. In contrast to previous research on coverage control involving more than one swarm,…
We study a public event scheduling problem, where multiple public events are scheduled to coordinate the availability of multiple agents. The availability of each agent is determined by solving a separate flexible interval job scheduling…
The coverage problem in wireless sensor networks deals with the problem of covering a region or parts of it with sensors. In this paper, we address the problem of covering a set of line segments in sensor networks. A line segment ` is said…
We investigate a variety of problems of finding tours and cycle covers with minimum turn cost. Questions of this type have been studied in the past, with complexity and approximation results as well as open problems dating back to work by…
The Minimum Path Cover (MPC) problem consists of finding a minimum-cardinality set of node-disjoint paths that cover all nodes in a given graph. We explore a variant of the MPC problem on acyclic digraphs (DAGs) where, given a subset of…
On an assigned graph, the problem of Multi-Agent Pathfinding (MAPF) consists in finding paths for multiple agents, avoiding collisions. Finding the minimum-length solution is known to be NP-hard, and computation times grows exponentially…
Finite-time motion planning with collision avoidance is a challenging issue in multi-agent systems. This paper proposes a novel distributed controller based on a new Lyapunov barrier function which guarantees finite-time stability for…
We introduce the multimodal car- and ride-sharing problem (MMCRP), in which a pool of cars is used to cover a set of ride requests while uncovered requests are assigned to other modes of transport (MOT). A car's route consists of one or…
We consider a cooperative vehicle routing problem for surveillance and reconnaissance missions with communication constraints between the vehicles. We propose a framework which involves a ground vehicle and an aerial vehicle; the vehicles…