相关论文: Lower Bounds for Searching Robots, some Faulty

In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…

As robots are being integrated into our daily lives, it becomes necessary to provide guarantees on the safe and provably correct operation. Such guarantees can be provided using automata theoretic task and mission planning where the…

This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…

Consider a mobile robot tasked with localizing targets at unknown locations by obtaining relative measurements. The observations can be bearing or range measurements. How should the robot move so as to localize the targets and minimize the…

We consider the unlabeled motion-planning problem of $m$ unit-disc robots moving in a simple polygonal workspace of $n$ edges. The goal is to find a motion plan that moves the robots to a given set of $m$ target positions. For the unlabeled…

Our goal is to develop theory and algorithms for establishing fundamental limits on performance imposed by a robot's sensors for a given task. In order to achieve this, we define a quantity that captures the amount of task-relevant…

We consider the problem of finding a door along a wall with a blind robot that neither knows the distance to the door nor the direction towards of the door. This problem can be solved with the well-known doubling strategy yielding an…

We investigate autonomous mobile robots in the Euclidean plane. A robot has a function called target function to decide the destination from the robots' positions. Robots may have different target functions. If the robots whose target…

Multi-Robot Path Planning (MRPP) on graphs, equivalently known as Multi-Agent Path Finding (MAPF), is a well-established NP-hard problem with critically important applications. As serial computation in (near)-optimally solving MRPP…

We study multi-robot persistent monitoring on weighted graphs, where node weights encode monitoring priorities and edge weights encode travel distances. The goal is to design joint robot trajectories that minimize the worst-case weighted…

There are $n\geq 3$ unit speed mobile agents placed at the origin of the infinite line. In as little time as possible, the agents must find and evacuate from an exit placed at an initially unknown location on the line. The agents can…

The linear search problem, informally known as the cow path problem, is one of the fundamental problems in search theory. In this problem, an immobile target is hidden at some unknown position on an unbounded line, and a mobile searcher,…

Learning sketching matrices for fast and accurate low-rank approximation (LRA) has gained increasing attention. Recently, Bartlett, Indyk, and Wagner (COLT 2022) presented a generalization bound for the learning-based LRA. Specifically, for…

Consider an agent exploring an unknown graph in search of some goal state. As it walks around the graph, it learns the nodes and their neighbors. The agent only knows where the goal state is when it reaches it. How do we reach this goal…

For the problem of high-dimensional sparse linear regression, it is known that an $\ell_0$-based estimator can achieve a $1/n$ "fast" rate on the prediction error without any conditions on the design matrix, whereas in absence of…

We are motivated by the problem of performing failure prediction for safety-critical robotic systems with high-dimensional sensor observations (e.g., vision). Given access to a black-box control policy (e.g., in the form of a neural…

Consider the goal of visiting every part of a room that is not blocked by obstacles. Doing so efficiently requires both sensors and planning. Our findings suggest a method of inexpensive optical range finding for robotic room traversal. Our…

A finite-horizon variant of the quickest change detection (QCD) problem that is of relevance to learning in non-stationary environments is studied. The metric characterizing false alarms is the probability of a false alarm occurring before…

A set of mobile robots is placed at points of an infinite line. The robots are equipped with GPS devices and they may communicate their positions on the line to a central authority. The collection contains an unknown subset of "spies",…

We consider three related problems of robot movement in arbitrary dimensions: coverage, search, and navigation. For each problem, a spherical robot is asked to accomplish a motion-related task in an unknown environment whose geometry is…