Related papers: Cooperative Target Capture using Voronoi Region Sh…

This paper considers a formation shape control problem for point agents in a two-dimensional ambient space, where the control is distributed, is based on achieving desired distances between nominated agent pairs, and avoids the possibility…

Color image segmentation is a crucial step in many computer vision and pattern recognition applications. This article introduces an adaptive and unsupervised clustering approach based on Voronoi regions, which can be applied to solve the…

For real-time multirotor kinodynamic motion planning, the efficiency of sampling-based methods is usually hindered by difficult-to-sample homotopy classes like narrow passages. In this paper, we address this issue by a hybrid scheme. We…

In this thesis we study sets of points in the plane and their Voronoi diagrams, in particular when the points coincide. We bring together two ways of studying point sets that have received a lot of attention in recent years: Voronoi…

This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. The desired formation pattern of the system…

In aerial visual area coverage missions, the camera footprint changes over time based on the camera position and orientation -- a fact that complicates the whole process of coverage and path planning. This article proposes a solution to the…

Deep reinforcement learning approaches have been a popular method for visual navigation tasks in the computer vision and robotics community of late. In most cases, the reward function has a binary structure, i.e., a large positive reward is…

In this paper a generalization of the Voronoi partition is used for optimal deployment of autonomous agents carrying sensors with heterogeneous capabilities, to maximize the sensor coverage. The generalized centroidal Voronoi configuration,…

Object tracking is one of the most important problems in computer vision. The aim of video tracking is to extract the trajectories of a target or object of interest, i.e. accurately locate a moving target in a video sequence and…

Cooperation in cellular networks has been recently suggested as a promising scheme to improve system performance, especially for cell-edge users. In this work, we use stochastic geometry to analyze cooperation models where the positions of…

Cooperative overtaking is believed to have the capability of improving road safety and traffic efficiency by means of the real-time information exchange between traffic participants, including road infrastructures, nearby vehicles and…

This paper studies a multiplayer reach-avoid differential game in the presence of general polygonal obstacles that block the players' motions. The pursuers cooperate to protect a convex region from the evaders who try to reach the region.…

This paper introduces a diffusion-based planner for leader--follower formation control in cluttered environments. The diffusion policy is used to generate the trajectory of the midpoint of two leaders as a rigid bar in the plane, thereby…

This paper proposes an integrated framework for coordinating multiple unmanned aerial vehicles (UAVs) in a distributed manner to persistently enclose and track a moving target without relying on external localization systems. The proposed…

This paper presents a methodology for optimal target detection in a multi sensor surveillance system. The system consists of mobile sensors that guard a rectangular surveillance zone crisscrossed by moving targets. Targets percolate the…

We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric…

This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…

This paper introduces a multirobot cooperation approach to solve the "pursuit evasion" problem for mobile robots that have omnidirectional vision sensors. The main characteristic of this approach is to implement a real cooperation between…

We study a pursuit-evasion game between a double integrator-driven pursuer with bounded velocity and bounded acceleration and a single integrator-driven evader with bounded velocity in a two-dimensional plane. The pursuer's goal is to…

In this work, we study the target detection and tracking problem in mobile sensor networks, where the performance metrics of interest are probability of detection and tracking coverage, when the target can be stationary or mobile and its…