Related papers: Multi-robot searching with limited sensing range f…

We consider a perimeter defense problem in which a single vehicle seeks to defend a compact region from intruders in a one-dimensional environment parameterized by the perimeter size and the intruder-to-vehicle speed ratio. The intruders…

We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…

Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots…

In this paper, we consider the gathering problem of seven autonomous mobile robots on triangular grids. The gathering problem requires that, starting from any connected initial configuration where a subgraph induced by all robot nodes…

Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…

This paper addresses the visibility-based pursuit-evasion problem where a team of pursuer robots operating in a two-dimensional polygonal space seek to establish visibility of an arbitrarily fast evader. This is a computationally…

Traditional algorithms for robots who need to integrate into a wireless network often focus on one specific task. In this work we want to develop simple, adaptive and reusable algorithms for real world applications for this scenario.…

Multiple object tracking is a critical task in autonomous driving. Existing works primarily focus on the heuristic design of neural networks to obtain high accuracy. As tracking accuracy improves, however, neural networks become…

Safe robot navigation is a fundamental research field for autonomous robots including ground mobile robots and flying robots. The primary objective of a safe robot navigation algorithm is to guide an autonomous robot from its initial…

Simulating hostile attacks of physical autonomous systems can be a useful tool to examine their robustness to attack and inform vulnerability-aware design. In this work, we examine this through the lens of multi-robot patrol, by presenting…

Active perception is a fundamental problem in autonomous robotics in which the robot must decide where to move and what to sense in order to obtain the most informative observations for accomplishing its mission. Existing approaches either…

In the current era of the industrial revolution, mobile robots are playing a pivotal role in helping out mankind in many complex and hazardous environments for performing tasks like search and rescue, obstacle avoidance, mining and security…

We consider a perimeter defense problem in a planar conical environment in which a single vehicle, having a finite capture radius, aims to defend a concentric perimeter from mobile intruders. The intruders are arbitrarily released at the…

This paper considers multi-goal motion planning in unstructured, obstacle-rich environments where a robot is required to reach multiple regions while avoiding collisions. The planned motions must also satisfy the differential constraints…

When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…

In the nearest neighbor problem, we are given a set $S$ of point sites that we want to store such that we can find the nearest neighbor of a (new) query point efficiently. In the dynamic version of the problem, the goal is to design a data…

Suppose one wants to monitor a domain with sensors, each sensing a small ball-shaped region, but the domain is hazardous enough that one cannot control the placement of the sensors. A prohibitively large number of randomly placed sensors…

Using multiple mobile robots in search missions offers a lot of benefits, but one needs a suitable and competent motion control algorithm which is able to consider sensors characteristics, the uncertainty of target detection and complexity…

This paper investigates different methods to detect obstacles ahead of a robot using a camera in the robot, an aerial camera, and an ultrasound sensor. We also explored various efficient path finding methods for the robot to navigate to the…

The Searchlight Scheduling Problem was first studied in 2D polygons, where the goal is for point guards in fixed positions to rotate searchlights to catch an evasive intruder. Here the problem is extended to 3D polyhedra, with the guards…