相关论文: Patrolling Grids with a Bit of Memory

We consider the problem of completely covering an unknown discrete environment with a swarm of asynchronous, frequently-crashing autonomous mobile robots. We represent the environment by a discrete graph, and task the robots with occupying…

Existing deep architectures cannot operate on very large signals such as megapixel images due to computational and memory constraints. To tackle this limitation, we propose a fully differentiable end-to-end trainable model that samples and…

Comprehending how the brain interacts with the external world through generated neural data is crucial for determining its working mechanism, treating brain diseases, and understanding intelligence. Although many theoretical models have…

Understanding the geometric relationships between objects in a scene is a core capability in enabling both humans and autonomous agents to navigate in new environments. A sparse, unified representation of the scene topology will allow…

A simple-triangle graph is the intersection graph of triangles that are defined by a point on a horizontal line and an interval on another horizontal line. The time complexity of the recognition problem for simple-triangle graphs was a…

Particle-based dynamic occupancy maps were proposed in recent years to model the obstacles in dynamic environments. Current particle-based maps describe the occupancy status in discrete grid form and suffer from the grid size problem,…

Coordinating agents through hazardous environments, such as aid-delivering drones navigating conflict zones or field robots traversing deployment areas filled with obstacles, poses fundamental planning challenges. We introduce and analyze…

The directed graph reachability problem takes as input an $n$-vertex directed graph $G=(V,E)$, and two distinguished vertices $s$ and $t$. The problem is to determine whether there exists a path from $s$ to $t$ in $G$. This is a canonical…

Computing a (short) path between two vertices is one of the most fundamental primitives in graph algorithmics. In recent years, the study of paths in temporal graphs, that is, graphs where the vertex set is fixed but the edge set changes…

Existing Simultaneous Localization and Mapping (SLAM) approaches are limited in their scalability due to growing map size in long-term robot operation. Moreover, processing such maps for localization and planning tasks leads to the…

Leader election is one of the fundamental and well-studied problems in distributed computing. In this paper, we initiate the study of leader election using mobile agents. Suppose $n$ agents are positioned initially arbitrarily on the nodes…

Autonomous mobility-on-demand (AMoD) systems represent a rapidly developing mode of transportation wherein travel requests are dynamically handled by a coordinated fleet of robotic, self-driving vehicles. Given a graph representation of the…

We present and analyze methods for patrolling an environment with a distributed swarm of robots. Our approach uses a physical data structure - a distributed triangulation of the workspace. A large number of stationary "mapping" robots cover…

The metric dimension (MD) of a graph is a combinatorial notion capturing the minimum number of landmark nodes needed to distinguish every pair of nodes in the graph based on graph distance. We study how much the MD can increase if we add a…

The cover time of random walks on a graph has found wide practical applications in different fields of computer science, such as crawling and searching on the World Wide Web and query processing in sensor networks, with the application…

The well-studied DISPERSION problem is a fundamental coordination problem in distributed robotics, where a set of mobile robots must relocate so that each occupies a distinct node of a network. DISPERSION assumes that a robot can settle at…

We investigate the problem of optimally assigning a large number of robots (or other types of autonomous agents) to guard the perimeters of closed 2D regions, where the perimeter of each region to be guarded may contain multiple disjoint…

The main topic of this paper is motivated by a localization problem in cellular networks. Given a graph $G$ we want to localize a walking agent by checking his distance to as few vertices as possible. The model we introduce is based on a…

Segment Routing is a recent network technology that helps optimizing network throughput by providing finer control over the routing paths. Instead of routing directly from a source to a target, packets are routed via intermediate waypoints.…

We address the problem of autonomously learning controllers for vision-capable mobile robots. We extend McCallum's (1995) Nearest-Sequence Memory algorithm to allow for general metrics over state-action trajectories. We demonstrate the…