相关论文: Patrolling Grids with a Bit of Memory

We investigate the online exploration problem (aka covering) of a short-sighted mobile robot moving in an unknown cellular environment with hexagons and triangles as types of cells. To explore a cell, the robot must enter it. Once inside,…

A common sensing problem is to use a set of stationary tracking locations to monitor a collection of moving devices: Given $n$ objects that need to be tracked, each following its own trajectory, and $m$ stationary traffic control stations,…

Modeling and understanding the environment is an essential task for autonomous driving. In addition to the detection of objects, in complex traffic scenarios the motion of other road participants is of special interest. Therefore, we…

When does a robot planner need a map? Reactive methods that use only the robot's current sensor data and local information are fast and flexible, but prone to getting stuck in local minima. Is there a middle-ground between fully reactive…

Occupancy grids are the most common framework when it comes to creating a map of the environment using a robot. This paper studies occupancy grids from the motion planning perspective and proposes a mapping method that provides richer data…

We consider systems made of autonomous mobile robots evolving in highly dynamic discrete environment i.e., graphs where edges may appear and disappear unpredictably without any recurrence, stability, nor periodicity assumption. Robots are…

Graph processing is typically considered to be a memory-bound rather than compute-bound problem. One common line of thought is that more available memory bandwidth corresponds to better graph processing performance. However, in this work we…

The graph-navigability problem concerns how one can find as short paths as possible between a pair of vertices, given an incomplete picture of a graph. We study the navigability of graphs where the vertices are tagged by a number (between 1…

We introduce a new problem in the domain of mobile robots, which we term dispersion. In this problem, $n$ robots are placed in an $n$ node graph arbitrarily and must coordinate with each other to reach a final configuration such that…

For the first time proposed: a method for representing the projections of a graph in computer memory and a description based on it of a quick search for shortest paths in unweighted dynamic graphs. The spatial complexity of the projection…

With a single eye fixation lasting a fraction of a second, the human visual system is capable of forming a rich representation of a complex environment, reaching a holistic understanding which facilitates object recognition and detection.…

We address a problem of area protection in graph-based scenarios with multiple agents. The problem consists of two adversarial teams of agents that move in an undirected graph shared by both teams. Agents are placed in vertices of the…

Grid cells enable the brain to model the physical space of the world and navigate effectively via path integration, updating self-position using information from self-movement. Recent proposals suggest that the brain might use similar…

We address a problem of area protection in graph-based scenarios with multiple mobile agents where connectivity is maintained among agents to ensure they can communicate. The problem consists of two adversarial teams of agents that move in…

Adversarial Patrolling games form a subclass of Security games where a Defender moves between locations, guarding vulnerable targets. The main algorithmic problem is constructing a strategy for the Defender that minimizes the worst damage…

Visual navigation takes inspiration from humans, who navigate in previously unseen environments using vision without detailed environment maps. Inspired by this, we introduce a novel no-RL, no-graph, no-odometry approach to visual…

Mobile guards on the vertices of a graph are used to defend it against attacks on either its vertices or its edges. Various models for this problem have been proposed. In this survey we describe a number of these models with particular…

In the graph exploration problem, a team of mobile computational entities, called agents, arbitrarily positioned at some nodes of a graph, must cooperate so that each node is eventually visited by at least one agent. In the literature, the…

Research involving computing with mobile agents is a fast-growing field, given the advancement of technology in automated systems, e.g., robots, drones, self-driving cars, etc. Therefore, it is pressing to focus on solving classical network…

When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…