Related papers: Optimizing Visibility-based Search in Polygonal Do…
We study the problem of allocating many mobile robots for the execution of a pre-defined sweep schedule in a known two-dimensional environment, with applications toward search and rescue, coverage, surveillance, monitoring, pursuit-evasion,…
The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…
We investigate the problem of monitoring multiple targets using a single mobile sensor, with the goal of minimizing the maximum estimation error among all the targets over long time horizons. The sensor can move in a network-constrained…
Width-based search algorithms seek plans by prioritizing states according to a suitably defined measure of novelty, that maps states into a set of novelty categories. Space and time complexity to evaluate state novelty is known to be…
Missions for autonomous systems often require agents to visit multiple targets in complex operating conditions. This work considers the problem of visiting a set of targets in minimum time by a team of non-communicating agents in a Markov…
Searching for optimal ways in a network is an important task in multiple application areas such as social networks, co-citation graphs or road networks. In the majority of applications, each edge in a network is associated with a certain…
Efficient path optimization for drones in search and rescue operations faces challenges, including limited visibility, time constraints, and complex information gathering in urban environments. We present a comprehensive approach to…
We consider the problem of searching for rays (or lines) in the half-plane. The given problem turns out to be a very natural extension of the cow-path problem that is lifted into the half-plane and the problem can also directly be motivated…
Given a simple polygon P in the plane, we present new algorithms and data structures for computing the weak visibility polygon from any query line segment in P. We build a data structure in O(n) time and O(n) space that can compute the…
This paper investigates Path planning Among Movable Obstacles (PAMO), which seeks a minimum cost collision-free path among static obstacles from start to goal while allowing the robot to push away movable obstacles (i.e., objects) along its…
Shortest-path roadmaps, also known as reduced visibility graphs, provides a highly efficient multi-query method for computing optimal paths in two-dimensional environments. Combined with Minkowski sum computations, shortest-path roadmaps…
We consider the traveling salesman problem when the cities are points in R^d for some fixed d and distances are computed according to geometric distances, determined by some norm. We show that for any polyhedral norm, the problem of finding…
We consider the rooted orienteering problem in Euclidean space: Given $n$ points $P$ in $\mathbb R^d$, a root point $s\in P$ and a budget $\mathcal B>0$, find a path that starts from $s$, has total length at most $\mathcal B$, and visits as…
We propose precise notions of what it means to guard a domain "robustly", under a variety of models. While approximation algorithms for minimizing the number of (precise) point guards in a polygon is a notoriously challenging area of…
We consider the problem of controlling the movement of multiple cooperating agents so as to minimize an uncertainty metric associated with a finite number of targets. In a one-dimensional mission space, we adopt an optimal control framework…
In this work, we consider a method of searching of the direction of a wireless network development (the places of new access points or base stations etc.) optimized with criteria of coverage of important territories and minimum cost of…
Anytime heuristic search algorithms try to find a (potentially suboptimal) solution as quickly as possible and then work to find better and better solutions until an optimal solution is obtained or time is exhausted. The most widely-known…
Computing the shortest path between two given locations in a road network is an important problem that finds applications in various map services and commercial navigation products. The state-of-the-art solutions for the problem can be…
We study the problem of minimizing the resource capacity of autonomous agents cooperating to achieve a shared task. More specifically, we consider high-level planning for a team of homogeneous agents that operate under resource constraints…
Base polytopes of polymatroids, also known as generalized permutohedra, are polytopes whose edges are parallel to a vector of the form $\mathbf{e}_i - \mathbf{e}_j$. We consider the following computational problem: Given two vertices of a…