Israel A. Wagner

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We consider the problem of patrolling—i.e. ongoing exploration of a network by a decentralized group of simple memoryless robotic agents. The model for the network is an undirected graph, and our goal, beyond complete exploration, is to achieve close to uniform frequency of traversal of the graph’s edges. A simple multi-agent exploration algorithm is(More)
Ants and other insects are known to use chemicals called pheromones for various communication and coordination tasks. In this paper, we investigate the ability of a group of robots, that communicate by leaving traces, to perform the task of cleaning the floor of an un-mapped building, or any task that requires the traversal of an unknown region. More(More)
Gate diffusion input (GDI)—a new technique of low-power digital combinatorial circuit design—is described. This technique allows reducing power consumption, propagation delay, and area of digital circuits while maintaining low complexity of logic design. Performance comparison with traditional CMOS and various pass-transistor logic design techniques is(More)
In the world of living creatures, “simple minded” animals often cooperate to achieve common goals with amazing performance. One can consider this idea in the context of robotics, and suggest models for programming goaloriented behavior into the members of a group of simple robots lacking global supervision. This can be done by controlling the local(More)
Several recent works considered multi agents robotics in static environments. In this work we examine ways of operating in dynamic environments, in which changes may take place regardless of the agents' activity. The work focuses on a dynamic variant of the known Cooperative Cleaners problem (described and analyzed in [I.A. Wagner et al., (1997)]). This(More)
Efficient graph search is a central issue in many aspects of AI. In most of existing work there is a distinction between the active “searcher”, which both executes the algorithm and holds the memory, and the passive “searched graph”, over which the searcher has no control at all. Large dynamic networks like the Internet, where the nodes are powerful(More)
This work examines the Cooperative Hunters problem, where a swarm of unmanned air vehicles (UAVs) is used for searching after one or more “evading targets”, which are moving in a predefined area while trying to avoid a detection by the swarm. By arranging themselves into efficient geometric flight configurations, the UAVs optimize their integrated sensing(More)
An ant walks along the edges of a graph G, occ~sionMly leaving pheromone traces at vertices, and using those traces to guide its exploration. We show that the ant can cover the graph within time O(nd) where n is the number of vertices and d the diameter of G. The use of traces achieves a tradeoff between random and self-avoiding walks, as it can give lower(More)
This work examines the Cooperative Hunters problem, where a swarm of UAVs (unmanned aerial vehicles) is used for searching after one or more “smart targets” which are moving in a predefined area, while trying to avoid detection by the swarm. By arranging themselves into an efficient flight configuration, the UAVs optimizes their integrated sensing(More)