Zhongshun Zhang — accepted AI-conference papers

2021

Multi-Agent Reinforcement Learning for Visibility-based Persistent Monitoring

Jingxi Chen, Amrish Baskaran, Zhongshun Zhang, Pratap Tokekar

IROS 2021poster

The Visibility-based Persistent Monitoring (VPM) problem seeks to find a set of trajectories (or controllers) for robots to persistently monitor a changing environment. Each robot has a sensor, such as a camera, with a limited field-of-view that is obstructed by obstacles in the environment. The rob…

Cited by 22 Source ↗code ↗Scholar ↗

2019

Tree Search Techniques for Minimizing Detectability and Maximizing Visibility

Zhongshun Zhang, Joseph Lee, Jonathon M. Smereka, Yoonchang Sung, Lifeng Zhou, Pratap Tokekar

ICRA 2019poster

We introduce and study the problem of planning a trajectory for an agent to carry out a reconnaissance mission while avoiding being detected by an adversarial guard. This introduces a multi-objective version of classical visibility-based target search and pursuit-evasion problem. In our formulation,…

Cited by 7 Source ↗Scholar ↗