Related papers: Disk and Partial Disk Inspection: Worst- to Averag…
We consider the facility location problem in the one-dimensional setting where each facility can serve a limited number of agents from the algorithmic and mechanism design perspectives. From the algorithmic perspective, we prove that the…
Agent behavior is arguably the greatest source of uncertainty in trajectory planning for autonomous vehicles. This problem has motivated significant amounts of work in the behavior prediction community on learning rich distributions of the…
The input to the unrooted traveling repairman problem is an undirected metric graph and a subset of nodes, each of which has a time window of unit length. Given that a repairman can start at any location, the goal is to plan a route that…
Using the 20 questions estimation framework with query-dependent noise, we study non-adaptive search strategies for a moving target over the unit cube with unknown initial location and velocities under a piecewise constant velocity model.…
Multi-agent pathfinding (MAPF) is a challenging problem which is hard to solve optimally even when simplifying assumptions are adopted, e.g. planar graphs (typically -- grids), discretized time, uniform duration of move and wait actions…
We address the persistent monitoring problem in two-dimensional mission spaces where the objective is to control the trajectories of multiple cooperating agents to minimize an uncertainty metric. In a one-dimensional mission space, we have…
We study $p$-Faulty Search, a variant of the classic cow-path optimization problem, where a unit speed robot searches the half-line (or $1$-ray) for a hidden item. The searcher is probabilistically faulty, and detection of the item with…
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…
This paper presents an algorithm for multiobjective optimization that blends together a number of heuristics. A population of agents combines heuristics that aim at exploring the search space both globally and in a neighborhood of each…
How can teams of artificial agents localize and position themselves in GPS-denied environments? How can each agent determine its position from pairwise ranges, own velocity, and limited interaction with neighbors? This paper addresses this…
The problem of searching a polygonal region for an unpredictably moving intruder by a set of stationary guards, each carrying an orientable laser, is known as the Searchlight Scheduling Problem. Determining the computational complexity of…
We consider the problem of identifying n points in the plane using disks, i.e., minimizing the number of disks so that each point is contained in a disk and no two points are in exactly the same set of disks. This problem can be seen as an…
We consider linear search for an escaping target whose speed and initial position are unknown to the searcher. A searcher (an autonomous mobile agent) is initially placed at the origin of the real line and can move with maximum speed $1$ in…
Given a geometric domain $P$, visibility-based search problems seek routes for one or more mobile agents ("watchmen") to move within $P$ in order to be able to see a portion (or all) of $P$, while optimizing objectives, such as the…
In this paper, we consider the problem of choosing disks (that we can think of as corresponding to wireless sensors) so that given a set of input points in the plane, there exists no path between any pair of these points that is not…
A classical multi-agent fence patrolling problem asks: What is the maximum length $L$ of a line that $k$ agents with maximum speeds $v_1,\ldots,v_k$ can patrol if each point on the line needs to be visited at least once every unit of time.…
We introduce a problem in which a service vehicle seeks to guard a deadline (boundary) from dynamically arriving mobile targets. The environment is a rectangle and the deadline is one of its edges. Targets arrive continuously over time on…
Many discrete optimization problems amount to selecting a feasible set of edges of least weight. We consider in this paper the context of spatial graphs where the positions of the vertices are uncertain and belong to known uncertainty sets.…
We study a graph pathfinding problem Distance-$r$ Independent Unlabeled Multi-Agent Pathfinding, finding a set of collision-free paths between two sets where agents must stay at pairwise distance at least $r+1$ at all times. This additional…
Multi-agent Path Finding (MAPF) is the problem of planning collision-free movements of agents so that they get from where they are to where they need to be. Commonly, agents are located on a graph and can traverse edges. This problem has…