相关论文: On Fence Patrolling by Mobile Agents

Multi-agent patrolling is a key problem in a variety of domains such as intrusion detection, area surveillance, and policing which involves repeated visits by a group of agents to specified points in an environment. While the problem is…

This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…

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…

Police officer presence at an intersection discourages a potential traffic violator from violating the law. It also alerts the motorists' consciousness to take precaution and follow the rules. However, due to the abundant intersections and…

Several distributed algorithms are presented for the exploration of unknown indoor regions by a swarm of flying, energy constrained agents. The agents, which are identical, autonomous, anonymous and oblivious, uniformly cover the region and…

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…

We consider the optimal multi-agent persistent monitoring problem defined by a team of cooperating agents visiting a set of nodes (targets) on a graph with the objective of minimizing a measure of overall node state uncertainty. The…

Here we consider the communications tactics appropriate for a group of agents that need to "swarm" together in a highly adversarial environment. Specfically, whilst they need to cooperate by exchanging information with each other about…

Two mobile agents, starting from different nodes of a network modeled as a graph, and woken up at possibly different times, have to meet at the same node. This problem is known as rendezvous. We consider deterministic distributed rendezvous…

The increasing adoption of Reinforcement Learning in safety-critical systems domains such as autonomous vehicles, health, and aviation raises the need for ensuring their safety. Existing safety mechanisms such as adversarial training,…

Due to accelerating urbanization, the importance of solving the signal control problem increases. This paper analyzes various existing methods and suggests options for increasing the number of agents to reduce the average travel time.…

We consider $n$ unit-speed mobile agents initially positioned at the center of a unit disk, tasked with inspecting all points on the disk's perimeter. A perimeter point is considered covered if an agent located outside the disk's interior…

We consider an interval coverage problem. Given $n$ intervals of the same length on a line $L$ and a line segment $B$ on $L$, we want to move the intervals along $L$ such that every point of $B$ is covered by at least one interval and the…

This paper investigates control laws allowing mobile, autonomous agents to optimally position themselves on the line for distributed sensing in a nonuniform field. We show that a simple static control law, based only on local measurements…

In control system networks, reconfiguration of the controller when agents are leaving or joining the network is still an open challenge, in particular when operation constraints that depend on each agent's behavior must be met. Drawing our…

A conflict between rational and autonomous agents is considered. The paper addresses a differential game of protecting a target in the 3-D space. This problem highlights the strong correlation between the highly dynamic scenario, the…

We consider a perimeter surveillance problem introduced by Kingston, Beard, and Holt in 2008 and studied by Davis, Humphrey, and Kingston in 2019. In this problem, $n$ drones surveil a finite interval, moving at uniform speed and exchanging…

Autonomous vehicles are suited for continuous area patrolling problems. Finding an optimal patrolling strategy can be challenging due to unknown environmental factors, such as wind or landscape; or autonomous vehicles' constraints, such as…

Multi-agent Path Finding (MAPF) is the problem of planning collision-free movements of agents so that they get from where they are to where they need to be. Commonly, agents are located on a graph and can traverse edges. This problem has…

We consider an Anonymous Multi-Agent Path-Finding (AMAPF) problem where the set of agents is confined to a graph, a set of goal vertices is given and each of these vertices has to be reached by some agent. The problem is to find an…