相关论文: Mobile vs. point guards

We investigate the online exploration problem (aka covering) of a short-sighted mobile robot moving in an unknown cellular environment with hexagons and triangles as types of cells. To explore a cell, the robot must enter it. Once inside,…

We consider the problem of searching for an intruder in a geometric domain by utilizing multiple search robots. The domain is a simply connected orthogonal polygon with edges parallel to the cartesian coordinate axes. Each robot has a…

We give upper and lower bounds on the maximum and minimum number of geometric configurations of various kinds present (as subgraphs) in a triangulation of $n$ points in the plane. Configurations of interest include \emph{convex polygons},…

We consider the model of limited visibility Cops and Robbers, where the cops can only see within their $l$-neighbourhood. We prove that the number of cops needed to see the robber can be arbitrarily smaller than the number needed to capture…

The guarding game is a game in which several cops try to guard a region in a (directed or undirected) graph against Robber. Robber and the cops are placed on the vertices of the graph; they take turns in moving to adjacent vertices (or…

We address a problem of area protection in graph-based scenarios with multiple mobile agents where connectivity is maintained among agents to ensure they can communicate. The problem consists of two adversarial teams of agents that move in…

Given a collection $L$ of line segments, we consider its arrangement and study the problem of covering all cells with line segments of $L$. That is, we want to find a minimum-size set $L'$ of line segments such that every cell in the…

Cops and robbers is a turn-based pursuit game played on a graph $G$. One robber is pursued by a set of cops. In each round, these agents move between vertices along the edges of the graph. The cop number $c(G)$ denotes the minimum number of…

A rectangle visibility graph (RVG) is represented by assigning to each vertex a rectangle in the plane with horizontal and vertical sides in such a way that edges in the graph correspond to unobstructed horizontal and vertical lines of…

In this work, we study the target detection and tracking problem in mobile sensor networks, where the performance metrics of interest are probability of detection and tracking coverage, when the target can be stationary or mobile and its…

We propose a minimal solution for pose estimation using both points and lines for a multi-perspective camera. In this paper, we treat the multi-perspective camera as a collection of rigidly attached perspective cameras. These type of…

Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…

We study the problem of optimally inspecting an underground (underwater) gallery with k agents. We consider a gallery with a single opening and with a tree topology rooted at the opening. Due to the small diameter of the pipes (caves), the…

We introduce a two-player game in which one and his/her opponent attempt to pack as many ``prisoners'' as possible on the squares of an n-by-n checkerboard; each prisoner has to be ``protected'' by at least as many guards as the number of…

We consider the watchman route problem for multiple watchmen in staircase polygons, which are rectilinear $x$- and $y$-monotone polygons. For two watchmen, we propose an algorithm to find an optimal solution that takes quadratic time,…

We study multi-agent coverage algorithms for autonomous monitoring and patrol in urban environments. We consider scenarios in which a team of flying agents uses downward facing cameras (or similar sensors) to observe the environment outside…

$\newcommand{\Arr}{\mathcal{A}} \newcommand{\numS}{k} \newcommand{\ArrX}[1]{\Arr(#1)} \newcommand{\eps}{\varepsilon} \newcommand{\opt}{\mathsf{o}}$ For point sets $P_1, \ldots, P_\numS$, a set of lines $L$ is halving if any face of the…

The paper focuses on two problems: (i) how to orient the edges of an undirected graph in order to maximize the number of ordered vertex pairs (x,y) such that there is a directed path from x to y, and (ii) how to orient the edges so as to…

This paper is concerned with recovery of motion and structure parameters from multiframes under orthogonal projection when only points are traced. The main question is how many points and/or how many frames are necessary for the task. It is…

In this paper, we consider the problem of planning a path for a robot to monitor a known set of features of interest in an environment. We represent the environment as a graph with vertex weights and edge lengths. The vertices represent…