Related papers: Optimizing Visibility-based Search in Polygonal Do…
Identifying a preferable route is an important problem that finds applications in map services. When a user plans a trip within a city, the user may want to find "a most popular route such that it passes by shopping mall, restaurant, and…
We present an algorithm to explore an orthogonal polygon using a team of $p$ robots. This algorithm combines ideas from information-theoretic exploration algorithms and computational geometry based exploration algorithms. We show that the…
The minimum-time path for intercepting a moving target with a prescribed impact angle is studied in the paper. The candidate paths from Pontryagin's maximum principle are analyzed, so that each candidate is related to a zero of a…
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…
We consider an agent seeking to obtain an item, potentially available at different locations in a physical environment. The traveling costs between locations are known in advance, but there is only probabilistic knowledge regarding the…
For a polygon P with n vertices, the vertex guarding problem asks for the minimum subset G of P's vertices such that every point in P is seen by at least one point in G. This problem is NP-complete and APX-hard. The first approximation…
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.…
In the continuous 1.5-dimensional terrain guarding problem we are given an $x$-monotone chain (the \emph{terrain} $T$) and ask for the minimum number of point guards (located anywhere on $T$), such that all points of $T$ are covered by at…
A common way to accelerate shortest path algorithms on graphs is the use of a bidirectional search, which simultaneously explores the graph from the start and the destination. It has been observed recently that this strategy performs…
We investigate the problem of optimally assigning a large number of robots (or other types of autonomous agents) to guard the perimeters of closed 2D regions, where the perimeter of each region to be guarded may contain multiple disjoint…
This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…
We present results on new variants of the famous linear search (or cow-path) problem that involves an agent searching for a target with unknown position on the infinite line. We consider the variant where the agent can move either at speed…
We study a general class of bicriteria network design problems. A generic problem in this class is as follows: Given an undirected graph and two minimization objectives (under different cost functions), with a budget specified on the first,…
A mobile robot represented by a point moving in the plane has to explore an unknown terrain with obstacles. Both the terrain and the obstacles are modeled as arbitrary polygons. We consider two scenarios: the unlimited vision, when the…
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…
The shortest path problem is related to many dynamic processes on networks, ranging from routing in communication networks to signaling in molecular interaction networks. When the network is fully known, the shortest path problem can be…
The problem of vertex guarding a simple polygon was first studied by Subir K. Ghosh (1987), who presented a polynomial-time $O(\log n)$-approximation algorithm for placing as few guards as possible at vertices of a simple $n$-gon $P$, such…
Terrain Guarding Problem(TGP), which is known to be NP-complete, asks to find a smallest set of guard locations on a terrain $T$ such that every point on $T$ is visible by a guard. Here, we study this problem on 1.5D orthogonal terrains…
We consider several Vehicle Routing Problems (VRP) with profits, which seek to select a subset of customers, each one being associated with a profit, and to design service itineraries. When the sum of profits is maximized under distance…
We perform structural and algorithmic studies of significantly generalized versions of the optimal perimeter guarding (OPG) problem. As compared with the original OPG where robots are uniform, in this paper, many mobile robots with…