相关论文: A discrete optimisation approach for target path p…

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…

Typical Multi-agent Path Finding (MAPF) solvers assume that agents move synchronously, thus neglecting the reality gap in timing assumptions, e.g., delays caused by an imperfect execution of asynchronous moves. So far, two policies enforce…

We consider a scenario in which an autonomous agent carries out a mission in a stochastic environment while passively observed by an adversary. For the agent, minimizing the information leaked to the adversary regarding its high-level…

This paper considers a pursuit-evasion scenario among three agents -- an evader, a pursuer, and a defender. We design cooperative guidance laws for the evader and the defender team to safeguard the evader from an attacking pursuer. Unlike…

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…

In this paper, we investigate the problem of joint searching and tracking of multiple mobile targets by a group of mobile agents. The targets appear and disappear at random times inside a surveillance region and their positions are random…

The hidden-action model captures a fundamental problem of principal-agent theory and provides an optimal sharing rule when only the outcome but not the effort can be observed. However, the hidden-action model builds on various explicit and…

We present results on new variants of the famous linear search (or cow-path) problem that involves an agent searching for a target with unknown position on the infinite line. We consider the variant where the agent can move either at speed…

In this paper, we investigate the distributed shortest distance optimization problem for a multi-agent network to cooperatively minimize the sum of the quadratic distances from some convex sets, where each set is only associated with one…

Multi-Agent Path finding (MAPF) is the problem of finding paths for a set of agents such that each agent reaches its desired destination while avoiding collisions with the other agents. This problem arises in many robotics applications,…

We consider planning problems, that often arise in autonomous driving applications, in which an agent should decide on immediate actions so as to optimize a long term objective. For example, when a car tries to merge in a roundabout it…

In multi-agent navigation, agents need to move towards their goal locations while avoiding collisions with other agents and static obstacles, often without communication with each other. Existing methods compute motions that are optimal…

Adjustable autonomy refers to entities dynamically varying their own autonomy, transferring decision-making control to other entities (typically agents transferring control to human users) in key situations. Determining whether and when…

We consider a class of problems related to variable knockout, where knockout means set a variable to zero. Given an optimisation problem formulated as a zero-one integer program the question we consider in this paper is what might be an…

In this paper, we consider a scenario where an unmanned aerial vehicle (UAV) collects data from a set of sensors on a straight line. The UAV can either cruise or hover while communicating with the sensors. The objective is to minimize the…

We consider the problem of using an autonomous agent to persistently monitor a collection of dynamic targets distributed in an environment. We generalize existing work by allowing the agent's dynamics to vary throughout the environment,…

In this paper, we study robust distributed sub-optimal coordination of linear agents subject to input nonlinearities. Inspired by the robust agreement literature, we formulate a bounded distributed sub-optimal coordination problem, in which…

Current research on robust trajectory planning for autonomous agents aims to mitigate uncertainties arising from disturbances and modeling errors while ensuring guaranteed safety. Existing methods primarily utilize stochastic optimal…

A disjunctive sensing and actuation problem is considered in which the actuators and sensors are prevented from operating together over any given time step. This problem is motivated by practical applications in the area of spacecraft…

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…