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We study a class of finite state machines, called \defi{$w$-matching machines}, which yield to simulate the behavior of pattern matching algorithms while searching for a pattern $w$. They can be used to compute the asymptotic speed, i.e.…
We consider the problem of walking in an unknown street, for a robot that has a minimal sensing capability. The robot is equipped with a sensor that only detects the discontinuities in depth information (gaps) and can locate the target…
We study the computational complexity of multi-agent path finding (MAPF). Given a graph $G$ and a set of agents, each having a start and target vertex, the goal is to find collision-free paths minimizing the total distance traveled. To…
One area of research in multi-agent path finding is to determine how replanning can be efficiently achieved in the case of agents being delayed during execution. One option is to reschedule the passing order of agents, i.e., the sequence in…
Consider the following classical search problem: given a target point $p\in \Re$, starting at the origin, find $p$ with minimum cost, where cost is defined as the distance travelled. Let $D$ be the distance of $p$ from the origin. When no…
Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics, requiring the computation of collision-free paths for multiple agents moving from their respective start to goal positions. Coordinating multiple agents in a shared…
This paper investigates Path planning Among Movable Obstacles (PAMO), which seeks a minimum cost collision-free path among static obstacles from start to goal while allowing the robot to push away movable obstacles (i.e., objects) along its…
In this paper, we present several results of both theoretical as well as practical interests. First, we propose the quota lawn mowing problem, an extension of the classic lawn mowing problem in computational geometry, as follows: given a…
This paper proposes a novel planning framework to handle a multi-agent pathfinding problem under team-connected communication constraint, where all agents must have a connected communication channel to the rest of the team during their…
We study an ancient problem that in a static or dynamical system, sought an optimal path, which the context always means within an extremal condition. In fact, through those discussions about this theme, we established a universal essential…
In this paper we study the problem of cooperative searching and tracking (SAT) of multiple moving targets with a group of autonomous mobile agents that exhibit limited sensing capabilities. We assume that the actual number of targets is not…
Multi-agent active search requires autonomous agents to choose sensing actions that efficiently locate targets. In a realistic setting, agents also must consider the costs that their decisions incur. Previously proposed active search…
We study prioritized planning for Multi-Agent Path Finding (MAPF). Existing prioritized MAPF algorithms depend on rule-of-thumb heuristics and random assignment to determine a fixed total priority ordering of all agents a priori. We instead…
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.…
We describe a line-search algorithm which achieves the best-known worst-case complexity results for problems with a certain "strict saddle" property that has been observed to hold in low-rank matrix optimization problems. Our algorithm is…
In this work, we extend the convex bodies chasing problem (CBC) to an adversarial setting, where an agent (the Player) is tasked with chasing a sequence of convex bodies generated adversarially by another agent (the Opponent). The Player…
We consider a problem of localizing a path-signal that evolves over time on a graph. A path-signal can be viewed as the trajectory of a moving agent on a graph in several consecutive time points. Combining dynamic programming and graph…
We consider a problem of placing generators of rewards to be collected by randomly moving agents in a network. In many settings, the precise mobility pattern may be one of several possible, based on parameters outside our control, such as…
We consider convex and nonconvex constrained optimization with a partially separable objective function: agents minimize the sum of local objective functions, each of which is known only by the associated agent and depends on the variables…
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…