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- Nicholas M. Stiffler, Jason M. O'Kane
- 2014 IEEE/RSJ International Conference on…
- 2014

We introduce a probabilistically complete algorithm for solving a visibility-based pursuit-evasion problem in two-dimensional polygonal environments with multiple pursuers. The inputs for our algorithm are an environment and the initial positions of the pursuers. The output is a joint strategy for the pursuers that guarantees that the evader has been… (More)

- Nicholas M. Stiffler, Jason M. O'Kane
- 2016 IEEE International Conference on Robotics…
- 2016

We introduce a complete algorithm for solving a pursuit-evasion problem in a simply-connected two-dimensional environment, for the case of a single pursuer equipped with fixed beam sensors. The input for our algorithm is an environment and a collection of sensor directions, in which each is capable of line-of-sight detection in a fixed direction. The output… (More)

- Nicholas M. Stiffler, Jason M. O'Kane
- 2012 IEEE International Conference on Robotics…
- 2012

We present an algorithm that computes a minimal-cost pursuer trajectory for a single pursuer to solve the visibility-based pursuit-evasion problem in a simply-connected two-dimensional environment. This algorithm improves upon the known algorithm of Guibas, Latombe, LaValle, Lin, and Motwani, which is complete but not optimal. Our algorithm uses a Tour of… (More)

- Nicholas M. Stiffler, Jason M. O'Kane
- 2014 IEEE International Conference on Robotics…
- 2014

We introduce a centralized algorithm for a visibility-based pursuit-evasion problem in a two-dimensional environment for the case of multiple pursuers. The input for our algorithm is an environment represented as a doubly-connected edge list and the initial positions of the pursuers. The output is a joint strategy for the pursuers that guarantees that the… (More)

This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems involve multiple, similar-geometry objects placed on a flat, horizontal surface, where a robot can approach them from above and perform pickand-place operations to rearrange them. The paper considers… (More)

- Nicholas M. Stiffler, Jason M. O'Kane
- 2011 IEEE International Conference on Robotics…
- 2011

We propose an algorithm for a visibility-based pursuit-evasion problem in a simply-connected two-dimensional environment, in which a single pursuer has access to a probabilistic model describing how the evaders are likely to move in the environment. The application of our algorithm can be best viewed in the context of search and rescue: Although the victims… (More)

- Nicholas M. Stiffler, Andreas Kolling, Jason M. O'Kane
- 2017 IEEE International Conference on Robotics…
- 2017

We consider a visibility-based pursuit-evasion problem in which a single robot with an omnidirectional but unreliable sensor moving through an environment must systematically search that environment to detect an unpredictably moving target. A common assumption in visibility-based pursuit-evasion is that the sensors used to detect the evader are perfectly… (More)

- Nicholas M. Stiffler, Jason M. O'Kane
- 2015 IEEE International Conference on Robotics…
- 2015

We present an algorithm that uses a sparse collection of noisy sensors to characterize the observed behavior of a mobile agent. Our approach models the agent's behavior using a collection of randomized simulators called implicit agent models and seeks to classify the agent according to which of these models is believed to be governing its motions. To… (More)

- Shuai D. Han, Nicholas M. Stiffler, Kostas E. Bekris, Jingjin Yu
- ArXiv
- 2017

This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered: one where every robot or object needs to reach a particular stack, and a setting in which each robot has a distinct position within a stack. In both cases, the goal is to… (More)

- Nicholas M. Stiffler, Jason M. O'Kane
- I. J. Robotics Res.
- 2017

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