Alfred M. Bruckstein

Alfred M. Bruckstein
Technion - Israel Institute of Technology | technion · Faculty of Computer Science

Professor

About

386
Publications
58,103
Reads
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23,826
Citations
Citations since 2017
69 Research Items
8999 Citations
201720182019202020212022202305001,0001,500
201720182019202020212022202305001,0001,500
201720182019202020212022202305001,0001,500
201720182019202020212022202305001,0001,500
Additional affiliations
January 2008 - September 2017
Nanyang Technological University
Position
  • Professor
January 2002 - September 2003
Tsinghua University
Position
  • Visiting Chaired Professor
October 1987 - January 2002
Bell Laboratories at Murray Hill
Position
  • Member of Technical Staff

Publications

Publications (386)
Article
Full-text available
Assume that inside a given planar circular region, there are smart mobile evaders, that we would like to detect using sweeping agents. We assume that the agents total sensing resources are a line sensor of predetermined length, which is divided between the swarm’s agents. We propose procedures for designing cooperative sweeping processes that guara...
Preprint
Full-text available
The goal of this research is to devise guaranteed defense policies that allow to protect a given region from the entrance of smart mobile invaders by detecting them using a team of defending agents equipped with identical line sensors. By designing cooperative defense strategies that ensure all invaders are detected, conditions on the defenders' sp...
Preprint
We consider the general problem of geometric task allocation, wherein a large, decentralised swarm of simple mobile agents must detect the locations of tasks in the plane and position themselves nearby. The tasks are represented by an a priori unknown demand profile $\Phi(x,y)$ that determines how many agents are needed in each location. The agents...
Preprint
We present algorithms for uniformly covering an unknown indoor region with a swarm of simple, anonymous and autonomous mobile agents. The exploration of such regions is made difficult by the lack of a common global reference frame, severe degradation of radio-frequency communication, and numerous ground obstacles. We propose addressing these challe...
Preprint
Full-text available
We consider several algorithms for exploring and filling an unknown, connected region, by simple, airborne agents. The agents are assumed to be identical, autonomous, anonymous and to have a finite amount of memory. The region is modeled as a connected sub-set of a regular grid composed of square cells. The algorithms described herein are suited fo...
Preprint
Full-text available
We study a combinatorial problem inspired by the following scenario: fully autonomous vehicles drive on a multi-lane ($m \geq 2$) road. Each vehicle heads to its own destination and is allowed to exit the road only through a single designated off-ramp lane. However, an individual vehicle has a severely limited memory and sensing capabilities, and,...
Article
Full-text available
We study the collective motion of autonomous mobile agents in a ringlike environment. The agents’ dynamics are inspired by known laboratory experiments on the dynamics of locust swarms. In these experiments, locusts placed at arbitrary locations and initial orientations on a ring-shaped arena are observed to eventually all march in the same directi...
Article
Full-text available
We consider the emergent behavior of a group of mobile agents guided by an exogenous broadcast signal. The agents’ dynamics is modelled by single integrators and they are assumed oblivious to their own position, however they share a common orientation (i.e. they have compasses). The broadcast control, a desired velocity vector, is detected by arbit...
Chapter
We study the collective motion of autonomous mobile agents on a ringlike environment. The agents’ dynamics is inspired by known laboratory experiments on the dynamics of locust swarms. In these experiments, locusts placed at arbitrary locations and initial orientations on a ring-shaped arena are observed to eventually all march in the same directio...
Book
This book presents the latest findings in the areas of data management and smart computing, machine learning, big data management, artificial intelligence, and data analytics, along with advances in network technologies. The book is a collection of peer-reviewed research papers presented at Fifth International Conference on Data Management, Analyti...
Article
An agent with constant speed unicycle kinematics senses only the bearing towards a target and pursues it, guided by a steering control law proportional to the bearing-angle to the target. The target’s speed is equal to that of the chasing agent while it moves at a constant velocity. This paper presents a comprehensive analysis of this unicycle purs...
Article
Full-text available
We compute the exact value of the least “relative perimeter” of a shape $S$, with a given area, contained in a unit square; the relative perimeter of $S$ being the length of the boundary of $S$ that does not touch the border of the square.
Article
Suppose in a given planar region, there are smart mobile evaders and we want to detect them using sweeping agents. We assume that the agents have line sensors of equal length. We propose procedures for designing cooperative sweeping processes that ensure successful completion of the task, thereby deriving conditions on the sweeping velocity of the...
Article
Full-text available
AntAlate is a software framework for Unmanned Aerial Vehicle (UAV) autonomy, designed to streamline and facilitate the work of application developers, particularly in deployment of Multi-Agent Robotic Systems (MARS). We created AntAlate in order to bring our research in the field of multi-agent systems from theoretical results to both advanced simu...
Preprint
Full-text available
We revisit here a fundamental result on planar triangulations, namely that the flip distance between two triangulations is upper-bounded by the number of proper intersections between their straight-segment edges. We provide a complete and detailed proof of this result in a slightly generalised setting using a case-based analysis that fills several...
Article
Full-text available
Suppose in a given planar circular region, there are smart mobile evaders and we want to find them using sweeping agents. We assume the sweeping agents are in a line formation whose total length is predetermined. We propose procedures for designing a sweeping process that ensures the successful completion of the task, thereby deriving conditions on...
Preprint
Full-text available
Suppose in a given planar region, there are smart mobile evaders and we want to detect them using sweeping agents. We assume that the agents have line sensors of equal length. We propose procedures for designing cooperative sweeping processes that ensure successful completion of the task, thereby deriving conditions on the sweeping velocity of the...
Article
Full-text available
Storage systems often rely on multiple copies of the same compressed data, enabling recovery in case of binary data errors, of course, at the expense of a higher storage cost. In this paper, we show that a wiser method of duplication entails great potential benefits for data types tolerating approximate representations, like images and videos. We p...
Article
Holographic representations of data enable distributed storage with progressive refinement when the stored packets of data are made available in any arbitrary order. In this paper, we propose and test patch-based transform coding holographic sensing of image data. Our proposal is optimized for progressive recovery under random order of retrieval of...
Preprint
Random pairwise encounters often occur in large populations, or groups of mobile agents, and various types of local interactions that happen at encounters account for emergent global phenomena. In particular, in the fields of swarm robotics, sociobiology, and social dynamics, several types of local pairwise interactions were proposed and analysed l...
Preprint
Full-text available
Holographic representations of data enable distributed storage with progressive refinement when the stored packets of data are made available in any arbitrary order. In this paper, we propose and test patch-based transform coding holographic sensing of image data. Our proposal is optimized for progressive recovery under random order of retrieval of...
Preprint
Full-text available
We study the collective motion of autonomous mobile agents on a ringlike environment. The agents' dynamics is inspired by known laboratory experiments on the dynamics of locust swarms. In these experiments, locusts placed at arbitrary locations and initial orientations on a ring-shaped arena are observed to eventually all march in the same directio...
Preprint
In this report we show the emergent behavior of a group of agents, ordered from 1 to n, performing deviated, linear, cyclic pursuit, in the presence of a broadcast guidance control. Each agent senses the relative position of its target, i.e. agent i senses the relative position of agent i+1. The broadcast control, a velocity signal, is detected by...
Chapter
The popularity of low-cost RGB-D scanners is increasing on a daily basis and has set off a major boost in 3D computer vision research. Nevertheless, commodity scanners often cannot capture subtle details in the environment. In other words, the precision of existing depth scanners is often not accurate enough to recover fine details of scanned objec...
Preprint
This report studies the emergent behavior of systems of agents performing cyclic pursuit controlled by an external broadcast signal detected by a random set of the agents. Two types of cyclic pursuit are analyzed: 1)linear cyclic pursuit, where each agent senses the relative position of its target or leading agent 2)non-linear cyclic pursuit, where...
Preprint
Suppose that in a given planar circular region, there are some smart mobile evaders and we would like to find them using sweeping agents. We assume that each agent has a line sensor of length 2r. We propose procedures for designing cooperative sweeping processes that ensure the successful completion of the task, thereby deriving conditions on the s...
Chapter
The human visual system correctly groups features and can even interpret random-dot videos induced by imaging natural dynamic scenes. Remarkably, this happens even if perception completely fails when the same information is presented frame by frame. We study this property of surprising dynamic perception with the first goal of proposing a new detec...
Article
Full-text available
In this work we study the topic of high-resolution adaptive sampling of a given deterministic signal and establish a clear connection to classic analyses of high-rate quantization. More specifically, we formulate solutions to the task of optimal high-resolution sampling of one-dimensional signals, which are shown as the counterparts of well-known r...
Preprint
The human visual system correctly groups features and interprets videos displaying non persistent and noisy random-dot data induced by imaging natural dynamic scenes. Remarkably, this happens even if perception completely fails when the same information is presented frame by frame. We study this property of surprising dynamic perception with the fi...
Preprint
Full-text available
We study the ability of mobile agents performing simple local computations to completely cover an unknown graph environment while implicitly constructing a distributed spanning tree. Whenever an agent moves, it may crash and disappear from the environment. The agents activate autonomously at exponential waiting times of mean $1$ and enter the graph...
Preprint
Full-text available
Suppose that in a given planar circular region, there are some smart mobile evaders and we would like to find them using sweeping agents. We assume that the sweeping agents are in a line formation whose total length is 2r. We propose procedures for designing a sweeping process that ensures the successful completion of the task, thereby deriving con...
Preprint
Full-text available
Distributed gathering algorithms aim to achieve complete visibility graphs via a "never lose a neighbour" policy. We suggest a method to maintain connected graph topologies, while reducing the number of effective edges in the graph to order n. This allows to achieve different goals and swarming behaviours: the system remains connected but flexible,...
Preprint
Full-text available
Holographic representations of data have two main objectives. The sensing process generates and then distributes multiple descriptions of information in packets that enable progressive recovery. The packets are designed to have as equal importance as possible to guarantee smoothness in the quality of the recovered information, independent of the or...
Conference Paper
Full-text available
The limited energy capacity of individual robotic agents in a swarm often limits the possible cooperative tasks they can perform. In this work, we investigate the problem of covering an unknown con- nected grid environment (e.g. a maze or connected corridors) with a robotic swarm so as to minimize the maximal number of steps that each member of the...
Preprint
The limited energy capacity of individual robotic agents in a swarm often limits the possible cooperative tasks they can perform. In this work, we investigate the problem of covering an unknown connected grid environment (e.g. a maze or connected corridors) with a robotic swarm so as to minimize the maximal number of steps that each member of the s...
Article
Full-text available
Holographic representations of data encode information in packets of equal importance that enable progressive recovery. The quality of recovered data improves as more and more packets become available. This progressive recovery of the information is independent of the order in which packets become available. Such representations are ideally suited...
Preprint
Full-text available
This report surveys results on distributed systems comprising mobile agents that are identical and anonymous, oblivious and interact solely by adjusting their motion according to the relative location of their neighbours. The agents are assumed capable of sensing the presence of other agents within a given sensing range and able to implement rules...
Preprint
Full-text available
We present a novel probabilistic gathering algorithms for agents that can only detect the presence of other agents in front or behind them. The agents act in the plane and are identical and indistinguishable, oblivious and lack any means of direct communication. They do not have a common frame of reference in the plane and choose their orientation...
Preprint
Full-text available
The main contribution of this paper is a novel method allowing an external observer/controller to steer and guide swarms of identical and indistinguishable agents, in spite of the agents' lack of information on absolute location and orientation. Importantly, this is done via simple global broadcast signals, based on the observed average swarm locat...
Preprint
Full-text available
Storage systems often rely on multiple copies of the same compressed data, enabling recovery in case of binary data errors, of course, at the expense of a higher storage cost. In this paper we show that a wiser method of duplication entails great potential benefits for data types tolerating approximate representations, like images and videos. We pr...
Preprint
Full-text available
A society of agents, with ideological positions, or "opinions" measured by real values ranging from $-\infty$ (the "far left") to $+\infty$ (the "far right"), is considered. At fixed (unit) time intervals agents repeatedly reconsider and change their opinions if and only if they find themselves at the extremes of the range of ideological positions...
Chapter
We consider a group of mobile robotic agents, identical and indistinguishable, having no memory (oblivious) and no common frame of reference (neither absolute location nor a common orientation). Furthermore, these agents are assumed to posses only rudimentary sensing and computational capabilities (limited visibility and basic geometric sorting). W...
Article
Full-text available
In this work we propose a method for optimizing the lossy compression for a network of diverse reconstruction systems. We focus on adapting a standard image compression method to a set of candidate displays, presenting the decompressed signals to viewers. Each display is modeled as a linear operator applied after decompression, and its probability...
Article
Full-text available
Many information systems employ lossy compression as a crucial intermediate stage among other processing components. While the important distortion is defined by the system's input and output signals, the compression usually ignores the system structure, therefore, leading to an overall sub-optimal rate-distortion performance. In this paper we prop...
Chapter
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 freely maneuver in a predefined area while trying to avoid detection by the swarm’s drones. By arranging themselves into an efficient geometric collaborative flight formation, the drones...
Chapter
In this work we analyze the behavior of a swarm of autonomous robotic agents, or drones, designed for cooperatively exploring an unknown area (for purposes of cleaning, painting, etc.). We assume that each robot can acquire only the information which is available in its immediate vicinity, and the only way of inter-robot communication is by leaving...
Chapter
In this paper we study the strengths and limitations of collaborative swarms of simple agents. In particular, we discuss the efficient use of simple drones, or “ant robots” for covering a connected region on the \(\mathbf{Z}^{2}\) grid, whose area is unknown in advance, and which expands at a given rate, where n is the initial size of the connected...
Chapter
In this chapter we examine the dynamic generalization of the Cooperative Cleaners problem presented in Altshuler et al., Swarm intelligent systems (2006), [10] and in the previous chapters of this book, involving a swarm of collaborative drones that are required to search a dynamically expanding region on the \( \mathbf{Z}^{2}\) grid (whose “pixels...
Chapter
This book aims to bring to the forefront innovative approaches for the design and analysis of Swarm Search systems and methodologies. Specifically, the book offers a comprehensive analysis of the theory and tools needed for the development of an efficient and robust infrastructure for the design of collaborative patrolling UAV swarms, focusing on i...
Chapter
In this work we study the strengths and limitations of collaborative teams of simple robotic agents, operating in stochastic environments. In particular, we discuss the efficient use of a swarm of “ant robots” (e.h. simple drones with a limited technical specifications) for covering a connected region on the \(\mathbf{Z}^{2}\) grid, whose area and...
Chapter
In this chapter we examine the dynamic generalization of the Cooperative Cleaners problem presented in [10] and in the previous chapter of this book, involving a swarm of collaborative drones that are required to search a dynamically expanding region on the \(\mathbf {Z}^{2}\) grid (whose “pixels” that were visited by the drones can become “un-sear...
Chapter
Current state of the art in the field of UAV activation relies solely on human operators for the design and adaptation of the drones flying routes. Furthermore, this is being done today on an individual level (one vehicle per operators), with some exceptions of a handful of new systems, that are comprised of a small number of self-organizing swarms...
Book
This book offers a comprehensive analysis of the theory and tools needed for the development of an efficient and robust infrastructure for the design of collaborative patrolling unmanned aerial vehicle (UAV) swarms, focusing on its applications for tactical intelligence drones. It discusses frameworks for robustly and near-optimally analyzing flock...
Article
Full-text available
A group of mobile agents, identical, anonymous, and oblivious (memoryless), able to sense only the direction (bearing) to neighboring agents within a finite visibility range, are shown to gather to a meeting point, in finite time, by applying a very simple rule of motion. The agents act in continuous time, and their rule of motion is as follows: th...
Article
Full-text available
In imaging systems, following acquisition, an image/video is transmitted or stored and eventually presented to human observers using different and often imperfect display devices. While the resulting quality of the output image may severely be affected by the display, this degradation is usually ignored in the preceding compression. In this paper w...
Article
Full-text available
In this paper we study the topic of signal restoration using complexity regularization, quantifying the compression bit-cost of the signal estimate. While complexity-regularized restoration is an established concept, solid practical methods were suggested only for the Gaussian denoising task, leaving more complicated restoration problems without a...
Article
The authors present a local rule of behavior for extremely simple unicycle agents that can only detect the presence of other agents in a visibility sector directly in front of them. Following this simple rule of interaction, the agents gather and remain close to one another, without ever acquiring any information on exact distances or bearings towa...
Article
Full-text available
We consider discrete dynamical systems of "ant-like" agents engaged in a sequence of pursuits on a graph environment. The agents emerge one by one at equal time intervals from a source vertex $s$ and pursue each other by greedily attempting to close the distance to their immediate predecessor, the agent that emerged just before them from $s$, until...
Article
A model is presented for an adaptive neuronal encoder that relates the output firing frequency to the input current. It is based on the integral pulse frequency modulation (IPFM) and includes cumulative inhibitory feedback as well as output dependent adaptive threshold control. The model reproduces both short and long term adaptation phenomena as e...
Article
Full-text available
Current state of the art in the field of UAV activation relies solely on human operators for the design and adaptation of the drones' flying routes. Furthermore, this is being done today on an individual level (one vehicle per operators), with some exceptions of a handful of new systems, that are comprised of a small number of self-organizing swarm...
Conference Paper
In this work we propose a new postprocessing method for video sequences compressed using intra-frame coding techniques. The suggested method extends our previously published approach for handling compressed still-images. We rely on the Plug-and-Play Prior framework, which shows that a general inverse problem can be cast as a sequence of Gaussian de...
Article
We discuss the topic of selecting optimal orthonormal bases for representing classes of signals defined either through statistics or via some deterministic characterizations, or combinations of the two. In all cases, the best bases result from spectral analysis of a Hermitian matrix that summarizes the prior information we have on the signals we wa...
Conference Paper
A group of mobile agents, identical, anonymous, and oblivious (memoryless), having the capacity to sense only the relative direction (bearing) to neighboring agents within a finite visibility range, are shown to gather to a meeting point in finite time by applying a very simple rule of motion. The agents’ rule of motion is: set your velocity vector...
Conference Paper
We present a model for controlling swarms of mobile agents via a broadcast control, detected by a random number of agents in the swarm. The agents that detect the control signal become the ad-hoc leaders of the swarm, while they detect the exogenous control. The agents are assumed to be velocity controlled, identical, anonymous, oblivious units wit...
Article
Full-text available
A team of identical and oblivious ant-like agents - a(ge)nts - leaving pheromone traces, are programmed to jointly patrol an area modeled as a graph. They perform this task using simple local interactions, while also achieving the important byproduct of partitioning the graph into roughly equal-sized disjoint sub-graphs. Each a(ge)nt begins to oper...
Article
Full-text available
We present a model for controlling swarms of mobile agents via broadcast control, assumed to be detected by a random set of agents in the swarm. The agents that detect the control signal become ad-hoc leaders of the swarm. The agents are assumed to be velocity controlled, identical, anonymous, memory-less units with limited capabilities of sensing...
Book
This book presents recent advances in the field of shape analysis. Written by experts in the fields of continuous-scale shape analysis, discrete shape analysis and sparsity, and numerical computing who hail from different communities, it provides a unique view of the topic from a broad range of perspectives. Over the last decade, it has become inc...
Article
Full-text available
The introduction of consumer RGB-D scanners set off a major boost in 3D computer vision research. Yet, the precision of existing depth scanners is not accurate enough to recover fine details of a scanned object. While modern shading based depth refinement methods have been proven to work well with Lambertian objects, they break down in the presence...
Article
Full-text available
A group of mobile agents, identical, anonymous, and oblivious (memoryless), having the capability to sense only the relative direction (bearing) to neighborhing agents within a finite visibility range, are shown to gather to a meeting point in finite time by applying a very simple rule of motion. The agents' rule of motion is : set your velocity ve...