相关论文: Guarding Polygons with Holes

Perpetual exploration is a fundamental problem in the domain of mobile agents, where an agent needs to visit each node infinitely often. This issue has received lot of attention, mainly for ring topologies, presence of black holes adds more…

As Large Language Models (LLMs) are increasingly deployed in complex applications, their vulnerability to adversarial attacks raises urgent safety concerns, especially those evolving over multi-round interactions. Existing defenses are…

Let $P$ be a simple polygon with $n$ vertices, and let $A$ be a set of $m$ points or line segments inside $P$. We develop data structures that can efficiently count the number of objects from $A$ that are visible to a query point or a query…

Let $P$ be an orthogonal polygon. Consider a sliding camera that travels back and forth along an orthogonal line segment $s\in P$ as its \emph{trajectory}. The camera can see a point $p\in P$ if there exists a point $q\in s$ such that $pq$…

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…

Multi-Robot Coverage problems have been extensively studied in robotics, planning and multi-agent systems. In this work, we consider the coverage problem when there are constraints on the proximity (e.g., maximum distance between the…

In highly distributed Internet measurement systems distributed agents periodically measure the Internet using a tool called {\tt traceroute}, which discovers a path in the network graph. Each agent performs many traceroute measurement to a…

We study two simple modifications of self-avoiding polygons. Osculating polygons are a super-set in which we allow the perimeter of the polygon to touch at a vertex. Neighbour-avoiding polygons are only allowed to have nearest neighbour…

This paper studies how a system operator and a set of agents securely execute a distributed projected gradient-based algorithm. In particular, each participant holds a set of problem coefficients and/or states whose values are private to…

In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…

We study the facility location games with candidate locations from a mechanism design perspective. Suppose there are n agents located in a metric space whose locations are their private information, and a group of candidate locations for…

In this paper, we consider a class of workspace partitioning problems that arise in the context of area coverage and spatial load balancing for spatially distributed heterogeneous multi-agent networks. It is assumed that each agent has…

For many multiagent control problems, neural networks (NNs) have enabled promising new capabilities. However, many of these systems lack formal guarantees (e.g., collision avoidance, robustness), which prevents leveraging these advances in…

Several mobile agents, modelled as deterministic automata, navigate in an infinite line in synchronous rounds. All agents start in the same round. In each round, an agent can move to one of the two neighboring nodes, or stay idle. Agents…

Let $s$ be a point in a polygonal domain $\mathcal{P}$ of $h-1$ holes and $n$ vertices. We consider a quickest visibility query problem. Given a query point $q$ in $\mathcal{P}$, the goal is to find a shortest path in $\mathcal{P}$ to move…

This paper studies the problem of decentralized continuum deformation coordination of multi-agent systems aided by cooperative localization. We treat agents as particles inside a triangular continuum (deformable body) in a2-D motion space…

We take the position that agent security must be approached as a systems problem: the AI model powering the agent must be treated as an untrusted component, and security invariants must be enforced at the system level. Through this lens,…

Robustness problems due to the substitution of the exact computation on real numbers by the rounded floating point arithmetic are often an obstacle to obtain practical implementation of geometric algorithms. If the adoption of the --exact…

Given a closed simple polygon $P$, we say two points $p,q$ see each other if the segment $pq$ is fully contained in $P$. The art gallery problem seeks a minimum size set $G\subset P$ of guards that sees $P$ completely. The only currently…

The Stable Roommates problem involves matching a set of agents into pairs based on the agents' strict ordinal preference lists. The matching must be stable, meaning that no two agents strictly prefer each other to their assigned partners. A…