13 accepted papers
In this work, we address the deployment problem for a team of mobile guards that tries to maintain a line-ofsight with an unpredictable mobile intruder. First, we present a computationally efficient strategy for generating a set of points, called kernel points, that covers the entire polygon. We the
In this work, we address a visbility-based target tracking problem in a polygonal environment in which a group of mobile observers try to maintain a line-of-sight with a mobile intruder. We build a bridge between data mining and visibility-based tracking using a novel tiling scheme for the polygon.…
This work presents an efficient and implementable solution to the problem of joint task allocation and path planning in a multi-UAV platform. The sensing requirement associated with the task gives rise to an uncanny variant of the traditional vehicle routing problem with coverage/sensing constraints…
In this paper, we consider the refuel scheduling problem for a team of ground robots deployed in "aislelike" environments wherein the robots are constrained to move along rows. In order to maintain a minimum service rate or throughput for the ground robots, we investigate the problem of scheduling a…
We consider the problem of generating a fixed path for a mobile observer in a polygonal environment that can maintain a line-of-sight with an unpredictable target. In contrast to purely off-line or on-line techniques, we propose a hierarchical tracking strategy in which an off-line path generation t…
This letter considers the problem of assigning multiple robots to charging stations in order to minimize the total time required by all robots for the charging operation. We first show that the centralized problem is NP-hard. Then, we formulate the charging problem as a non-cooperative game. We prop
In this paper, we address the visibility-based target tracking problem in which a mobile observer moving along a p-route, which we define as a fixed path for target tracking, tries to keep a mobile target in its field-of-view. By drawing a connection to the watchman's route problem, we find a set of…
We investigate a variation of the art gallery problem in which a team of mobile guards tries to track an unpredictable intruder in a simply-connected polygonal environment. The guards are deployed based on the strategy initially proposed in [1] which restricts them to move along a specific diagonal…
In this work, we address the problem of centralized scheduling and motion planning for multiple grain carts with finite capacity that serve a group of combine harvesters engaged in a harvesting operation. First, we solve a facility location problem of finding the optimal depot position to minimize t…
The art gallery problem or museum problem is a wellknown visibility problem in computational geometry. It originates from a real-world problem of guarding an art gallery with the minimum number of guards who together can observe the whole gallery. This letter deals with a variant of the art gallery
We investigate a variation of the art gallery problem in which a team of mobile guards tries to track an unpredictable intruder in a simply-connected polygonal environment. The guards are confined to move along the diagonals of a polygon, and are deployed according to the strategy proposed in [1] th…
In this letter, we address a visibility-based target-tracking problem in which a mobile observer tries to track a mobile target for a finite time. In order to ensure tracking guarantees for the observer, we formulate the problem as a finite-horizon zero-sum game between the observer and the target.
In this paper, we address the problem of motion planning for an autonomous grain cart. Contrary to prevailing practices in farming wherein one grain cart is allocated to each combine harvester, we envision a scenario in which one grain cart can serve multiple combine harvesters. This gives rise to c…