Related papers: Linear Search for an Escaping Target with Unknown …
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,…
We consider a problem of finding a target located in a finite $d$-dimensional domain, using $N$ independent random walkers, when partial information on the target location is given as a probability distribution. When $N$ is large, the…
We investigate the problem of optimally observing a finite set of targets using a mobile agent over an infinite time horizon. The agent is tasked to move in a network-constrained structure to gather information so as to minimize the…
The difference between the speed of the actions of different processes is typically considered as an obstacle that makes the achievement of cooperative goals more difficult. In this work, we aim to highlight potential benefits of such…
The interdiction problem arises in a variety of areas including military logistics, infectious disease control, and counter-terrorism. In the typical formulation of network interdiction, the task of the interdictor is to find a set of edges…
The optimal control of a "blind" pursuer searching for an evader moving on a road network and heading at a known speed toward a set of goal vertices is considered. To aid the "blind" pursuer, certain roads in the network have been…
We consider a search problem in which one or more targets must be rescued by a search party, or Searcher. The targets may be survivors of some natural disaster, or prisoners held by an adversary. The targets are hidden among a finite set of…
This paper is concerned with determining the shortest path for a pursuer aiming to intercept a moving target travelling at a constant speed. To address this challenge, we introduce an efficient mathematical model outlined as an optimal…
We study the problem of rendezvous of two mobile agents starting at distinct locations in an unknown graph. The agents have distinct labels and walk in synchronous steps. However the graph is unlabelled and the agents have no means of…
We consider (n+1) runners with given constant unique integer speeds running along the circumference of a circle whose circumferential length is one, and all runners starting from the same point. We define and give lower bounds to a first…
High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the operating environment is obtained. The requirement of…
We investigate inverse boundary problems associated with a time-dependent semilinear hyperbolic equation, where both nonlinearity and sources (including initial displacement and initial velocity) are unknown. We establish in several generic…
We consider a minimal model of persistent random searcher with short range memory. We calculate exactly for such searcher the mean first-passage time to a target in a bounded domain and find that it admits a non trivial minimum as function…
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…
In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…
In networks of mobile autonomous agents, e.g. for data acquisition, we may wish to maximize data transfer or to reliably transfer a minimum amount of data, subject to quality of service or energy constraints. These requirements can be…
We study the classical problem introduced by R. Isaacs and S. Gal of minimizing the time to find a hidden point $H$ on a network $Q$ moving from a known starting point. Rather than adopting the traditional continuous unit speed path…
We consider a search and rescue game introduced recently by the first author. An immobile target or targets (for example, injured hikers) are hidden on a graph. The terrain is assumed to dangerous, so that when any given vertex of the graph…
Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…
Search problems at various scales involve a searcher, be it a molecule before reaction or a foraging animal, which performs an intermittent motion. Here we analyze a generic model based on such type of intermittent motion, in which the…