相关论文: Patrolling Grids with a Bit of Memory

Grid maps, especially occupancy grid maps, are ubiquitous in many mobile robot applications. To simplify the process of learning the map, grid maps subdivide the world into a grid of cells whose occupancies are independently estimated using…

In self driving car applications, there is a requirement to predict the location of the lane given an input RGB front facing image. In this paper, we propose an architecture that allows us to increase the speed and robustness of road…

We propose efficient distributed algorithms to aid navigation of a user through a geographic area covered by sensors. The sensors sense the level of danger at their locations and we use this information to find a safe path for the user…

Effective security patrol management is critical for ensuring safety in diverse environments such as art galleries, airports, and factories. The behavior of patrols in these situations can be modeled by patrolling games. They simulate the…

Consider a small number of scouts exploring the infinite $d$-dimensional grid with the aim of hitting a hidden target point. Each scout is controlled by a probabilistic finite automaton that determines its movement (to a neighboring grid…

Consider a team of $k \leq n$ autonomous mobile robots initially placed at a node of an arbitrary graph $G$ with $n$ nodes. The dispersion problem asks for a distributed algorithm that allows the robots to reach a configuration in which…

Most of the existing robotic exploration schemes use occupancy grid representations and geometric targets known as frontiers. The occupancy grid representation relies on the assumption of independence between grid cells and ignores…

We study the fundamental problem of graph exploration in dynamic graphs using mobile agents. We consider $1$-interval connected dynamic graphs, where the topology may change arbitrarily from round to round as long as the graph remains…

In the Travelling Salesman Problem, every vertex of an edge-weighted graph has to be visited by an agent who traverses the edges of the graph. In this problem, it is usually assumed that the costs of each edge are given in advance, making…

We consider the following problem - a group of mobile agents perform some task on a terrain modeled as a graph. In a given moment of time an adversary gets an access to the graph and positions of the agents. Shortly before adversary's…

This paper highlights the significance of including memory structures in neural networks when the latter are used to learn perception-action loops for autonomous robot navigation. Traditional navigation approaches rely on global maps of the…

Tracking of moving objects is crucial to security systems and networks. Given a graph $G$, terminal vertices $s$ and $t$, and an integer $k$, the \textsc{Tracking Paths} problem asks whether there exists at most $k$ vertices, which if…

We consider a patrolling game on a graph recently introduced by Alpern et al. (2011) where the Patroller wins if he is at the attacked node while the attack is taking place. This paper studies the periodic patrolling game in the case that…

In this article, the issue of guarding multi-agent systems against a sequence of intruder attacks through mobile heterogeneous guards (guards with different ranges) is discussed. The article makes use of graph theoretic abstractions of such…

Neural control of memory-constrained, agile robots requires small, yet highly performant models. We leverage graph hyper networks to learn graph hyper policies trained with off-policy reinforcement learning resulting in networks that are…

We focus on adversarial patrolling games on arbitrary graphs, where the Defender can control a mobile resource, the targets are alarmed by an alarm system, and the Attacker can observe the actions of the mobile resource of the Defender and…

A memoryless routing algorithm is one in which the decision about the next edge on the route to a vertex t for a packet currently located at vertex v is made based only on the coordinates of v, t, and the neighbourhood, N(v), of v. The…

Computing fixed-radius near-neighbor graphs is an important first step for many data analysis algorithms. Near-neighbor graphs connect points that are close under some metric, endowing point clouds with a combinatorial structure. As…

We consider the problem of collective exploration of a known $n$-node edge-weighted graph by $k$ mobile agents that have limited energy but are capable of energy transfers. The agents are initially placed at an arbitrary subset of nodes in…

We study the Cooperative Guarding problem for polygons with holes in a mobile multi-agents setting. Given a set of agents, initially deployed at a point in a polygon with $n$ vertices and $h$ holes, we require the agents to collaboratively…