Related papers: Spirals and Beyond: Competitive Plane Search with …
Autonomous navigation often requires the simultaneous optimization of multiple objectives. The most common approach scalarizes these into a single cost function using a weighted sum, but this method is unable to find all possible trade-offs…
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…
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.…
The Multi-Agent Path Finding (MAPF) problem aims at finding non-conflicting paths for multiple agents from their respective sources to destinations. This problem arises in multiple real-life situations, including robot motion planning and…
A new class of multi agent single machine scheduling problems is introduced, where each job is associated with a self interested agent with a utility function decreasing in completion time. We aim to achieve a fair solution by maximizing…
Multi-agent path finding (MAPF) determines an ensemble of collision-free paths for multiple agents between their respective start and goal locations. Among the available MAPF planners for workspace modeled as a graph, A*-based approaches…
What is the fastest way of finding a randomly hidden target? This question of general relevance is of vital importance for foraging animals. Experimental observations reveal that the search behaviour of foragers is generally intermittent:…
State-of-the-art multimodal journey-planning algorithms, such as ULTRA, have recently been adapted to account for delays. In this work, we extend this approach to be more memory-efficient, faster, and accurate. We also adapt this framework…
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…
The selection of smoothing parameter is central to the estimation of penalized splines. The best value of the smoothing parameter is often the one that optimizes a smoothness selection criterion, such as generalized cross-validation error…
This paper is devoted to distributed continuous-time and discrete-time optimization problems with nonuniform convex constraint sets and nonuniform stepsizes for general differentiable convex objective functions. The communication graphs are…
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…
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…
This paper presents a new online multi-agent trajectory planning algorithm that guarantees to generate safe, dynamically feasible trajectories in a cluttered environment. The proposed algorithm utilizes a linear safe corridor (LSC) to…
Optimization problems in process engineering, including design and operation, can often pose challenges to many solvers: multi-modal, non-smooth, and discontinuous models often with large computational requirements. In such cases, the…
Multi-Agent Path Finding (MAPF) is a long-standing problem in Robotics and Artificial Intelligence in which one needs to find a set of collision-free paths for a group of mobile agents (robots) operating in the shared workspace. Due to its…
In search problems, a mobile searcher seeks to locate a target that hides in some unknown position of the environment. Such problems are typically considered to be of an on-line nature, in that the input is unknown to the searcher, and the…
Multi-agent path planning is a challenging problem with numerous real-life applications. Running a centralized search such as A* in the combined state space of all units is complete and cost-optimal, but scales poorly, as the state space…
Consider the following generalization of the classic binary search problem: A searcher is required to find a hidden target vertex $x$ in a graph $G$. To do so, they iteratively perform queries to an oracle, each about a chosen vertex $v$.…
Suppose that in a given planar circular region, there are some smart mobile evaders and we would like to find them using sweeping agents. We assume that the sweeping agents are in a line formation whose total length is 2r. We propose…