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For enabling efficient, large-scale coordination of unmanned aerial vehicles (UAVs) under the labeled setting, in this work, we develop the first polynomial time algorithm for the reconfiguration of many moving bodies in three-dimensional…
We present a general technique for approximating bicriteria minimization problems with positive-valued, polynomially computable objective functions. Given $0<\epsilon\leq1$ and a polynomial-time $\alpha$-approximation algorithm for the…
The (non-uniform) sparsest cut problem is the following graph-partitioning problem: given a "supply" graph, and demands on pairs of vertices, delete some subset of supply edges to minimize the ratio of the supply edges cut to the total…
We investigate the problem of using mobile robots equipped with 2D range sensors to optimally guard perimeters or regions, i.e., 1D or 2D sets. Given such a set of arbitrary shape to be guarded, and $k$ mobile sensors where the $i$-th…
This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find the shortest path to observe multiple targets with a limited…
Building on the blueprint from Goemans and Williamson (1995) for the Max-Cut problem, we construct a polynomial-time approximation algorithm for orthogonally constrained quadratic optimization problems. First, we derive a semidefinite…
In this paper, we present a polynomial-time algorithm that approximates sufficiently high-value Max 2-CSPs on sufficiently dense graphs to within $O(N^{\varepsilon})$ approximation ratio for any constant $\varepsilon > 0$. Using this…
We consider discrete bilevel optimization problems where the follower solves an integer program with a fixed number of variables. Using recent results in parametric integer programming, we present polynomial time algorithms for pure and…
Given a graph $G$, and terminal vertices $s$ and $t$, the TRACKING PATHS problem asks to compute a minimum number of vertices to be marked as trackers, such that the sequence of trackers encountered in each s-t path is unique. TRACKING…
This paper proposes a method to compute camera 6Dof poses to achieve a user defined coverage. The camera placement problem is modeled as a combinatorial optimization where given the maximum number of cameras, a camera set is selected from a…
We study several questions related to diversifying search results. We give improved approximation algorithms in each of the following problems, together with some lower bounds. - We give a polynomial-time approximation scheme (PTAS) for a…
Consider a sliding camera that travels back and forth along an orthogonal line segment $s$ inside an orthogonal polygon $P$ with $n$ vertices. The camera can see a point $p$ inside $P$ if and only if there exists a line segment containing…
In the Maximum Weight Independent Set of Rectangles (MWISR) problem we are given a set of n axis-parallel rectangles in the 2D-plane, and the goal is to select a maximum weight subset of pairwise non-overlapping rectangles. Due to many…
We study a general class of bicriteria network design problems. A generic problem in this class is as follows: Given an undirected graph and two minimization objectives (under different cost functions), with a budget specified on the first,…
In the Traveling Salesperson Problem (TSP) we are given a list of locations and the distances between each pair of them. The goal is to find the shortest possible tour that visits each location exactly once and returns to the starting…
In the Strip Packing problem (SP), we are given a vertical half-strip $[0,W]\times[0,\infty)$ and a set of $n$ axis-aligned rectangles of width at most $W$. The goal is to find a non-overlapping packing of all rectangles into the strip such…
Photomechanics is a crucial branch of solid mechanics. The localization of point targets constitutes a fundamental problem in optical experimental mechanics, with extensive applications in various missions of UAVs. Localizing moving targets…
The process of tracking human anatomy in computer vision is referred to pose estimation, and it is used in fields ranging from gaming to surveillance. Three-dimensional pose estimation traditionally requires advanced equipment, such as…
This paper considers a movement minimization problem for mobile sensors. Given a set of $n$ point targets, the $k$-Sink Minimum Movement Target Coverage Problem is to schedule mobile sensors, initially located at $k$ base stations, to cover…
This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…