相关论文: On Fence Patrolling by Mobile Agents

We address a problem of area protection in graph-based scenarios with multiple agents. The problem consists of two adversarial teams of agents that move in an undirected graph shared by both teams. Agents are placed in vertices of the…

We consider a variant of pursuit-evasion games where a single defender is tasked to defend a static target from a sequence of periodically arriving intruders. The intruders' objective is to breach the boundary of a circular target without…

Multi-Agent Pathfinding (MAPF) is the problem of finding paths for multiple agents such that every agent reaches its goal and the agents do not collide. Most prior work on MAPF was on grids, assumed agents' actions have uniform duration,…

We propose an optimal control framework for persistent monitoring problems where the objective is to control the movement of mobile agents to minimize an uncertainty metric in a given mission space. For a single agent in a one-dimensional…

We investigate two fundamental problems in mobile computing: exploration and rendezvous, with two distinct mobile agents in an unknown graph. The agents may communicate by reading and writing information on whiteboards that are located at…

We consider a patrolling game on a graph recently introduced by Alpern et al. (2011) where the Patroller wins if he is at the attacked node while the attack is taking place. This paper studies the periodic patrolling game in the case that…

We present solutions to a continuous patrolling game played on network. In this zero-sum game, an Attacker chooses a time and place to attack a network for a fixed amount of time. A Patroller patrols the network with the aim of intercepting…

We explored the Patrol Security Game (PSG), a robotic patrolling problem modeled as an extensive-form Stackelberg game, where the attacker determines the timing, location, and duration of their attack. Our objective is to devise a…

Expressing attack-defence trees in a multi-agent setting allows for studying a new aspect of security scenarios, namely how the number of agents and their task assignment impact the performance, e.g. attack time, of strategies executed by…

Using mobile robots for autonomous patrolling of environments to prevent intrusions is a topic of increasing practical relevance. One of the most challenging scientific issues is the problem of finding effective patrolling strategies that,…

Cooperation between mobile robots and wireless sensor networks is a line of research that is currently attracting a lot of attention. In this context, we study the following problem of barrier coverage by stationary wireless sensors that…

We address the problem of planning collision-free paths for multiple agents using optimization methods known as proximal algorithms. Recently this approach was explored in Bento et al. 2013, which demonstrated its ease of parallelization…

The goal of this research is to devise guaranteed defense policies that allow to protect a given region from the entrance of smart mobile invaders by detecting them using a team of defending agents equipped with identical line sensors. By…

We consider the problem of evacuating $k \geq 2$ mobile agents from a unit-sided equilateral triangle through an exit located at an unknown location on the perimeter of the triangle. The agents are initially located at the centroid of the…

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…

The difference between the speed of the actions of different processes is typically considered as an obstacle that makes the achievement of cooperative goals more difficult. In this work, we aim to highlight potential benefits of such…

We study a new search problem on the plane involving a robot and an immobile treasure, initially placed at distance $1$ from each other. The length $\beta$ of an arc (a fence) within the perimeter of the corresponding circle, as well as the…

In this paper, we study the one-shot and lifelong versions of the Target Assignment and Path Finding problem in automated sortation centers, where each agent needs to constantly assign itself a sorting station, move to its assigned station…

We consider the following surveillance problem: Given a set $P$ of $n$ sites in a metric space and a set of $k$ robots with the same maximum speed, compute a patrol schedule of minimum latency for the robots. Here a patrol schedule…

We propose an optimal control framework for persistent monitoring problems where the objective is to control the movement of mobile nodes to minimize an uncertainty metric in a given mission space. For multi agent in a one-dimensional…