相关论文: Optimal strategies for patrolling fences

Suppose that in a given planar circular region, there are some smart mobile evaders and we would like to find them using sweeping agents. We assume that each agent has a line sensor of length 2r. We propose procedures for designing…

Police patrol units need to split their time between performing preventive patrol and being dispatched to serve emergency incidents. In the existing literature, patrol and dispatch decisions are often studied separately. We consider joint…

We address the problem of optimal transport with a quadratic cost functional and a constraint on the flux through a constriction along the path. The constriction, conceptually represented by a toll station, limits the flow rate across. We…

A time-optimal problem for redundantly actuated robots moving on a specified path is a challenging problem. Although the problem is well explored and there are proposed solutions based on phase plane analysis, there are still several…

We consider very natural "fence enclosure" problems studied by Capoyleas, Rote, and Woeginger and Arkin, Khuller, and Mitchell in the early 90s. Given a set $S$ of $n$ points in the plane, we aim at finding a set of closed curves such that…

This paper presents control strategies based on time-varying convergent higher order control barrier functions for a class of leader-follower multi-agent systems under signal temporal logic (STL) tasks. Each agent is assigned a local STL…

Motivated by concerns about diversity in social networks, we consider the following pattern formation problems in rings. Assume $n$ mobile agents are located at the nodes of an $n$-node ring network. Each agent is assigned a colour from the…

We consider the strategyproof facility location problem on a circle. We focus on the case of 5 agents, and find a tight bound for the PCD strategyproof mechanism, which selects the reported location of an agent in proportion to the length…

We give an algorithm that decides whether the bipartite crossing number of a given graph is at most $k$. The running time of the algorithm is upper bounded by $2^{O(k)} + n^{O(1)}$, where $n$ is the number of vertices of the input graph,…

We consider an off-line optimisation problem where $k$ robots must service $n$ requests on a single line. A request $i$ has weight $w_i$ and takes place at time $t_i$ at location $d_i$ on the line. A robot can service a request and collect…

Autonomous vehicles are suited for continuous area patrolling problems. However, finding an optimal patrolling strategy can be challenging for many reasons. Firstly, patrolling environments are often complex and can include unknown…

We introduce and study the problem of planning a trajectory for an agent to carry out a scouting mission while avoiding being detected by an adversarial guard. This introduces an adversarial version of classical visibility-based planning…

We study the m-eternal domination problem from the perspective of the attacker. For many graph classes, the minimum required number of guards to defend eternally is known. By definition, if the defender has less than the required number of…

In this paper, we investigate the $k$-Facility Location Problem ($k$-FLP) within the Bayesian Mechanism Design framework, in which agents' preferences are samples of a probability distributed on a line. Our primary contribution is…

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…

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…

We present a 4-approximation algorithm for the problem of placing a fewest guards on a 1.5D terrain so that every point of the terrain is seen by at least one guard. This improves on the currently best approximation factor of 5. Our method…

We consider the problem of reinforcement learning when provided with (1) a baseline control policy and (2) a set of constraints that the learner must satisfy. The baseline policy can arise from demonstration data or a teacher agent and may…

We give nearly-tight upper and lower bounds for the improving multi-armed bandits problem. An instance of this problem has $k$ arms, each of whose reward function is a concave and increasing function of the number of times that arm has been…

Conventional distributed approaches to coverage control may suffer from lack of convergence and poor performance, due to the fact that agents have limited information, especially in non-convex discrete environments. To address this issue,…