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

This paper introduces a formal definition of the setting of ad hoc teamwork under partial observability and proposes a first-principled model-based approach which relies only on prior knowledge and partial observations of the environment in…

What is the impact of obstacles on the graphs of connections between stations in Mobile Ad hoc Networks? In order to answer, at least partially, this question, the first step is to define both an environment with obstacles and a mobility…

In this paper, we address the problem of stochastic motion planning under partial observability, more specifically, how to navigate a mobile robot equipped with continuous range sensors such as LIDAR. In contrast to many existing robotic…

We propose distributed algorithms to automatically deploy a team of mobile robots to partition and provide coverage of a non-convex environment. To handle arbitrary non-convex environments, we represent them as graphs. Our partitioning and…

Communication between embodied AI agents has received increasing attention in recent years. Despite its use, it is still unclear whether the learned communication is interpretable and grounded in perception. To study the grounding of…

In this paper we present a novel distributed coverage control framework for a network of mobile agents, in charge of covering a finite set of points of interest (PoI), such as people in danger, geographically dispersed equipment or…

This work proposes a receding horizon coverage control approach which allows multiple autonomous aerial agents to work cooperatively in order cover the total surface area of a 3D object of interest. The cooperative coverage problem which is…

The problem of coverage control, i.e., of coordinating multiple agents to optimally cover an area, arises in various applications. However, coverage applications face two major challenges: (1) dealing with nonlinear dynamics while…

This paper investigates multi-agent frequencybased patrolling of intersecting, circle graphs under conditions where graph nodes have non-uniform visitation requirements and agents have limited ability to communicate. The task is modeled as…

Multi-access Edge Computing (MEC) is an emerging computing paradigm that extends cloud computing to the network edge to support resource-intensive applications on mobile devices. As a crucial problem in MEC, service migration needs to…

Conventional distributed approaches to coverage control may suffer from lack of convergence and poor performance, due to the fact that agents have limited information, especially in non-convex discrete environments. To address this issue,…

Multiagent systems grapple with partial observability (PO), and the decentralized POMDP (Dec-POMDP) model highlights the fundamental nature of this challenge. Whereas recent approaches to addressing PO have appealed to deep learning models,…

The ability to solve motion-planning queries within a fixed time budget is critical for deploying robotic systems in time-sensitive applications. Semi-static environments, where most of the workspace remains fixed while a subset of…

Motivated by secure wireless networking, we consider the problem of placing fixed localizers that enable mobile communication devices to prove they belong to a secure region that is defined by the interior of a polygon. Each localizer views…

In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…

An Obstruction Avoidance Generously Mobility (OAGM) model has been introduced for controlling ad-hoc sensor networks and thereby operating emerging fields like military and healthcare services. According to this model, the ability to send a…

We consider the problem of interactive partially observable Markov decision processes (I-POMDPs), where the agents are located at the nodes of a communication network. Specifically, we assume a certain message type for all messages.…

We show the following problems are in $\textsf{P}$: 1. The contiguous art gallery problem -- a variation of the art gallery problem where each guard can protect a contiguous interval along the boundary of a simple polygon. This was posed at…

Although Vehicle Routing Problems (VRP) are essential to many real-world systems, they remain computationally intractable at scale due to their combinatorial complexity. Traditional heuristics rely on handcrafted rules for local…

Many real-world decision problems involve the interaction of multiple self-interested agents with limited sensing ability. The partially observable stochastic game (POSG) provides a mathematical framework for modeling these problems,…