Related papers: Heterogeneous Multi-Robot Graph Coverage with Prox…
In the Multiagent Path Finding problem (MAPF for short), we focus on efficiently finding non-colliding paths for a set of $k$ agents on a given graph $G$, where each agent seeks a path from its source vertex to a target. An important…
We consider the problem of filling an unknown area represented by an arbitrary connected graph of $n$ vertices by mobile luminous robots. In this problem, the robots enter the graph one-by-one through a specific vertex, called the Door, and…
We present and analyze methods for patrolling an environment with a distributed swarm of robots. Our approach uses a physical data structure - a distributed triangulation of the workspace. A large number of stationary "mapping" robots cover…
Given a graph $G=(V,E)$ with non-negative real edge lengths and an integer parameter $k$, the Min-Max k-Tree Cover problem seeks to find a set of at most $k$ subtrees of $G$, such that the union of the trees is the vertex set $V$. The…
In the Telephone Broadcast problem we are given a graph $G=(V,E)$ with a designated source vertex $s\in V$. Our goal is to transmit a message, which is initially known only to $s$, to all vertices of the graph by using a process where in…
In this paper, we introduce the concept of Density-Balanced Subset in a matroid, in which independent sets can be sampled so as to guarantee that (i) each element has the same probability to be sampled, and (ii) those events are negatively…
The problem of multi-robot target tracking asks for actively planning the joint motion of robots to track targets. In this paper, we focus on such target tracking problems in adversarial environments, where attacks or failures may…
Systems of networked mobile robots, such as unmanned aerial or ground vehicles, will play important roles in future military and commercial applications. The communications for such systems will typically be over wireless links and may…
A widely studied problem in communication networks is that of finding the maximum number of communication requests that can be scheduled concurrently, subject to node and/or link capacity constraints. In this paper, we consider the problem…
Multi-robot systems are essential for environmental monitoring, particularly for tracking spatial phenomena like pollution, soil minerals, and water salinity, and more. This study addresses the challenge of deploying a multi-robot team for…
We study an extensive class of movement minimization problems which arise from many practical scenarios but so far have little theoretical study. In general, these problems involve planning the coordinated motion of a collection of agents…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
The Minimum Vertex Cover problem, a classical NP-complete problem, presents significant challenges for exact solution on large graphs. Fixed-Parameter Tractability (FPT) offers a powerful paradigm to address such problems by exploiting a…
We consider the Vertex Cover problem in intersection graphs of axis-parallel rectangles on the plane. We present two algorithms: The first is an EPTAS for non-crossing rectangle families, rectangle families $\calR$ where $R_1 \setminus R_2$…
Coverage control is essential for the optimal deployment of agents to monitor or cover areas with sensory demands. While traditional coverage involves single-task robots, increasing autonomy now enables multitask operations. This paper…
Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of tasks over multiple specialized…
In the context of search and rescue, we consider the problem of mission planning for heterogeneous teams that can include human, robotic, and animal agents. The problem is tackled using a mixed integer mathematical programming formulation…
Given a set of objects with durations (jobs) that cover a base region, can we schedule the jobs to maximize the duration the original region remains covered? We call this problem the sensor cover problem. This problem arises in the context…
Multi-robot task allocation is one of the most fundamental classes of problems in robotics and is crucial for various real-world robotic applications such as search, rescue and area exploration. We consider the Single-Task robots and…
We consider the problem of searching for an intruder in a geometric domain by utilizing multiple search robots. The domain is a simply connected orthogonal polygon with edges parallel to the cartesian coordinate axes. Each robot has a…