相关论文: On Mobile Ad Hoc Networks for Coverage of Partiall…

In this work, it is presented the development of a novel distributed algorithm performing robotic coverage, clustering and dispatch around an event in static-obstacle structured environments without relying on metric information.…

In the original Art Gallery Problem (AGP), one seeks the minimum number of guards required to cover a polygon $P$. We consider the Chromatic AGP (CAGP), where the guards are colored. As long as $P$ is completely covered, the number of…

Motivated by exploration of communication-constrained underground environments using robot teams, we study the problem of planning for intermittent connectivity in multi-agent systems. We propose a novel concept of information-consistency…

We consider the problem of monitoring an art gallery modeled as a polygon, the edges of which are arcs of curves, with edge or mobile guards. Our focus is on piecewise-convex polygons, i.e., polygons that are locally convex, except possibly…

In this paper, we consider the partial gathering problem of mobile agents in asynchronous unidirectional rings equipped with whiteboards on nodes. The partial gathering problem is a new generalization of the total gathering problem. The…

Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…

We propose an end-to-end solution to address the problem of object localisation in partial scenes, where we aim to estimate the position of an object in an unknown area given only a partial 3D scan of the scene. We propose a novel scene…

We consider communication in a fully cooperative multi-agent system, where the agents have partial observation of the environment and must act jointly to maximize the overall reward. We have a discrete-time queueing network where agents…

We consider several algorithms for exploring and filling an unknown, connected region, by simple, airborne agents. The agents are assumed to be identical, autonomous, anonymous and to have a finite amount of memory. The region is modeled as…

We solve object localisation in partial scenes, a new problem of estimating the unknown position of an object (e.g. where is the bag?) given a partial 3D scan of a scene. The proposed solution is based on a novel scene graph model, the…

A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…

This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…

In mobile adhoc networks, congestion occurs with limited resources. The standard TCP congestion control mechanism is not able to handle the special properties of a shared wireless channel. TCP congestion control works very well on the…

In Social Robot Navigation, autonomous agents need to resolve many sequential interactions with other agents. State-of-the art planners can efficiently resolve the next, imminent interaction cooperatively and do not focus on longer planning…

Ad hoc teamwork refers to the problem of enabling an agent to collaborate with teammates without prior coordination. Data-driven methods represent the state of the art in ad hoc teamwork. They use a large labeled dataset of prior…

We propose a distributed control algorithm for a multi-agent network whose agents deploy over a cluttered region in accordance with a time-varying coverage density function while avoiding collisions with all obstacles they encounter. Our…

This paper focuses on a variation of the Art Gallery problem that considers open edge guards and open mobile guards. A mobile guard can be placed on edges and diagonals of a polygon, and the "open" prefix means that the endpoints of such…

We address the problem of distributed cooperative localization in wireless networks, i.e. nodes without prior position knowledge (agents) wish to determine their own positions. In non-cooperative approaches, positioning is only based on…

One of the most essential prerequisites behind a successful task execution of a team of agents is to accurately estimate and track their poses. We consider a cooperative multi-agent positioning problem where each agent performs single-agent…

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…