相关论文: Guarding Polygons with Holes

This paper addresses the sweep coverage problem of multi-agent systems in uncertain regions. A new formulation of distributed sweep coverage is proposed to cooperatively complete the workload in the uncertain region. Specifically, each…

Motivated by the increasing appeal of robots in information-gathering missions, we study multi-agent path planning problems in which the agents must remain interconnected. We model an area by a topological graph specifying the movement and…

When the boundary of a familiar object is shown by a series of isolated dots, humans can often recognize the object with ease. This ability can be sustained with addition of distracting dots around the object. However, such capability has…

We consider the problem of triangulating a polygon with $n$ vertices and $h$ holes, or relatedly the problem of computing the trapezoidal decomposition of a collection of $h$ disjoint simple polygonal chains with $n$ vertices total.…

We study the problem of locating a particularly dangerous node, the so-called black hole in a synchronous anonymous ring network with mobile agents. A black hole is a harmful stationary process residing in a node of the network and…

Preprocessing a 2D image often produces a noisy cloud of interest points. We study the problem of counting holes in unorganized clouds in the plane. The holes in a given cloud are quantified by the topological persistence of their boundary…

While large language model-based agents demonstrate great potential in collaborative tasks, their interactivity also introduces security vulnerabilities. In this paper, we propose and model group collusive attacks, a highly destructive…

We tackle the Art Gallery Problem and the Searchlight Scheduling Problem in 3-dimensional polyhedral environments, putting special emphasis on edge guards and orthogonal polyhedra.

We study a distributed coordination mechanism for uniform agents located on a circle. The agents perform their actions in synchronised rounds. At the beginning of each round an agent chooses the direction of its movement from clockwise,…

On an assigned graph, the problem of Multi-Agent Pathfinding (MAPF) consists in finding paths for multiple agents, avoiding collisions. Finding the minimum-length solution is known to be NP-hard, and computation times grows exponentially…

The study of collaborative multi-agent bandits has attracted significant attention recently. In light of this, we initiate the study of a new collaborative setting, consisting of $N$ agents such that each agent is learning one of $M$…

Suppose that a polygon $P$ is given as an array containing the vertices in counterclockwise order. We analyze how many vertices (including the index of each of these vertices) we need to know before we can bound $P$, i.e., report a bounded…

We are given a set $P$ of $n$ points in the plane, and a sequence of axis-aligned squares that arrive in an online fashion. The online hitting set problem consists of maintaining, by adding new points if necessary, a set $H\subseteq P$ that…

Representing a polygon using a set of simple shapes has numerous applications in different use-case scenarios. We consider the problem of covering the interior of a rectilinear polygon with holes by a set of area-weighted, axis-aligned…

The study addressed the problem of Anonymous Multi-Agent Path-finding (AMAPF). Unlike the classical formulation, where the assignment of agents to goals is fixed, in the anonymous MAPF setting it is irrelevant which agent reaches specific…

Suppose that a fence needs to be protected (perpetually) by $k$ mobile agents with maximum speeds $v_1,\ldots,v_k$ so that no point on the fence is left unattended for more than a given amount of time. The problem is to determine if this…

We consider the fundamental task of network exploration. A network is modeled as a simple connected undirected n-node graph with unlabeled nodes, and all ports at any node of degree d are arbitrarily numbered 0,.....,d-1. Each of two…

This paper considers a formation shape control problem for point agents in a two-dimensional ambient space, where the control is distributed, is based on achieving desired distances between nominated agent pairs, and avoids the possibility…

A terrain is an x-monotone polygonal curve, i.e., successive vertices have increasing x-coordinates. Terrain Guarding can be seen as a special case of the famous art gallery problem where one has to place at most $k$ guards on a terrain…

We consider the problem of covering the boundary of a simple polygon on n vertices using the minimum number of geodesic unit disks. We present an O(n \log^2 n+k) time 2-approximation algorithm for finding the centers of the disks, with k…