Related papers: Linear Search with Probabilistic Detection and Var…
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…
We consider optimal route planning when the objective function is a general nonlinear and non-monotonic function. Such an objective models user behavior more accurately, for example, when a user is risk-averse, or the utility function needs…
In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specifically, we assume that targets can appear and disappear at…
Predicting the location where a lost person could be found is crucial for search and rescue operations with limited resources. To improve the precision and efficiency of these predictions, simulated agents can be created to emulate the…
This paper is about line search for the generalized alternating projections (GAP) method. This method is a generalization of the von Neumann alternating projections method, where instead of performing alternating projections, relaxed…
This paper investigates the problem of computing a two-dimensional optimal curvature straight line (CS) shortest path for an unmanned aerial vehicle (UAV) to intercept a moving target, with both the UAV (pursuer) and target travelling at…
The problem of detecting anomalies in multiple processes is considered. We consider a composite hypothesis case, in which the measurements drawn when observing a process follow a common distribution with an unknown parameter (vector), whose…
We consider the bi-criteria shortest-path problem where we want to compute shortest paths on a graph that simultaneously balance two cost functions. While this problem has numerous applications, there is usually no path minimizing both cost…
We address the problem of persistent monitoring, where a finite set of mobile agents has to persistently visit a finite set of targets. Each of these targets has an internal state that evolves with linear stochastic dynamics. The agents can…
This paper considers the problem of searching for a point of interest (POI) moving along an urban road network with an uncrewed aerial vehicle (UAV). The UAV is modeled as a variable-speed Dubins vehicle with a line-of-sight sensor in an…
This work considers infinite-horizon optimal control of positive linear systems applied to the case of network routing problems. We demonstrate the equivalence between Stochastic Shortest Path (SSP) problems and optimal control of a certain…
Path finding algorithm addresses problem of finding shortest path from source to destination avoiding obstacles. There exist various search algorithms namely A*, Dijkstra's and ant colony optimization. Unlike most path finding algorithms…
We study the kinetics for the search of an immobile target by randomly moving searchers that detect it only upon encounter. The searchers perform intermittent random walks on a one-dimensional lattice. Each searcher can step on a nearest…
Constrained Optimum Path (COP) problems appear in many real-life applications, especially on communication networks. Some of these problems have been considered and solved by specific techniques which are usually difficult to extend. In…
We introduce and study the multi-agent stochastic shortest path (MSSP) problem, in which $k$ agents strive to reach a target state, aiming to minimize the expected time to reach the target by any agent. We analyze the computational and…
Multi-Agent Path Finding (MAPF) is the problem of finding a collection of collision-free paths for a team of multiple agents while minimizing some global cost, such as the sum of the time travelled by all agents, or the time travelled by…
We formalize Multi-Agent Path Finding with Deadlines (MAPF-DL). The objective is to maximize the number of agents that can reach their given goal vertices from their given start vertices within the deadline, without colliding with each…
We introduce and study the general setting of weighted search in which a number of targets, each with a certain weight, are hidden in a star-like environment that consists of $m$ infinite, concurrent rays, with a common origin. A mobile…
We address the problem where a mobile search agent seeks to find an unknown number of stationary objects distributed in a bounded search domain, and the search mission is subject to time/distance constraint. Our work accounts for false…
Consider the scenario where multiple agents have to move in an optimal way through a network, each one towards their ending position while avoiding collisions. By optimal, we mean as fast as possible, which is evaluated by a measure known…