On the Control of Mobile Ad-Hoc Agent Deployments in Partially Observed Space

Abstract:We study the online deployment of mobile ad hoc networks in unknown orthogonal environments, formalized as the Partially Observable Cooperative Guard Art Gallery Problem. We give a full proof that CADENCE algorithms achieve full coverage while maintaining a connected visibility graph using at most $n/2 + h - 2$ agents in orthogonal worlds with $n$ corners and $h$ holes. We further evaluate deployment-order heuristics that reduce agent count and deployment time in practice.

Robotics (cs.RO)

arXiv:2609.23060 [cs.RO]

(or arXiv:2609.23060v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.23060 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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