Related papers: Linear Search with Probabilistic Detection and Var…
Several recently developed Multi-Agent Path Finding (MAPF) solvers scale to large MAPF instances by searching for MAPF plans on 2 levels: The high-level search resolves collisions between agents, and the low-level search plans paths for…
We address a variant of multi-agent path finding in continuous environment (CE-MAPF), where agents move along sets of smooth curves. Collisions between agents are resolved via avoidance in the space domain. A new Continuous Environment…
A random search is a stochastic process representing the random motion of a particle (denoted as the searcher) that is terminated when it reaches (detects) a target particle or area the first time. In intermittent search the random motion…
We investigate a graph probing problem in which an agent has only an incomplete view $G' \subsetneq G$ of the network and wishes to explore the network with least effort. In each step, the agent selects a node $u$ in $G'$ to probe. After…
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…
In this paper, we consider the problem of exploring unknown environments with autonomous agents. We model the environment as a graph with edge weights and analyze the task of visiting all vertices of the graph at least once. The hardness of…
Imagine a tracking agent $P$ who wants to follow a moving target $Q$ in $d$-dimensional Euclidean space. The tracker has access to a noisy location sensor that reports an estimate $\tilde{Q}(t)$ of the target's true location $Q(t)$ at time…
We consider the problem of an autonomous agent equipped with multiple sensors, each with different sensing precision and energy costs. The agent's goal is to explore the environment and gather information subject to its resource constraints…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
Projected-search methods for bound-constrained optimization are based on performing a search along a piecewise-linear continuous path obtained by projecting a search direction onto the feasible region. A benefit of these methods is that…
Multi-agent path finding (MAPF) is the problem of moving agents to the goal vertex without collision. In the online MAPF problem, new agents may be added to the environment at any time, and the current agents have no information about…
In this paper we discuss a sequential algorithm for the computation of a minimum-time speed profile over a given path, under velocity, acceleration and jerk constraints. Such a problem arises in industrial contexts such as automated…
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 address the problem of finding the shortest path between two points in an unknown real physical environment, where a traveling agent must move around in the environment to explore unknown territory. We introduce the Physical-A* algorithm…
In this paper we study a property of time-dependent graphs, dubbed path ranking invariance. Broadly speaking, a time-dependent graph is path ranking invariant if the ordering of its paths (w.r.t. travel time) is independent of the start…
We consider the ANTS problem [Feinerman et al.] in which a group of agents collaboratively search for a target in a two-dimensional plane. Because this problem is inspired by the behavior of biological species, we argue that in addition to…
Next generation Unmanned Aerial Vehicles (UAVs) must reliably avoid moving obstacles. Existing dynamic collision avoidance methods are effective where obstacle trajectories are linear or known, but such restrictions are not accurate to many…
Coordinating agents through hazardous environments, such as aid-delivering drones navigating conflict zones or field robots traversing deployment areas filled with obstacles, poses fundamental planning challenges. We introduce and analyze…
Given an undirected graph, $G$, and vertices, $s$ and $t$ in $G$, the tracking paths problem is that of finding the smallest subset of vertices in $G$ whose intersection with any $s$-$t$ path results in a unique sequence. This problem is…
This paper considers the problem of autonomous multi-agent cooperative target search in an unknown environment using a decentralized framework under a no-communication scenario. The targets are considered as static targets and the agents…