Related papers: Memoryless Routing in Convex Subdivisions: Random …
A simplicial vertex of a graph is a vertex whose neighborhood is a clique. It is known that listing all simplicial vertices can be done in $O(nm)$ time or $O(n^{\omega})$ time, where $O(n^{\omega})$ is the time needed to perform a fast…
We consider the problem of routing in a mobile ad-hoc network (MANET) for which the planned mobilities of the nodes are partially known a priori and the nodes travel in groups. This situation arises commonly in military and emergency…
This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*)…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
We show that any randomized first-order algorithm which minimizes a $d$-dimensional, $1$-Lipschitz convex function over the unit ball must either use $\Omega(d^{2-\delta})$ bits of memory or make $\Omega(d^{1+\delta/6-o(1)})$ queries, for…
We consider the problem of periodic graph exploration in which a mobile entity with constant memory, an agent, has to visit all n nodes of an arbitrary undirected graph G in a periodic manner. Graphs are supposed to be anonymous, that is,…
Training neural networks requires optimizing a loss function that may be highly irregular, and in particular neither convex nor smooth. Popular training algorithms are based on stochastic gradient descent with momentum (SGDM), for which…
An ad hoc network is an infrastructureless network in which nodes perform terminal as well as routing functions. A routing protocol is the only substitute to complete the communications in the absence of an access point. In spite of that…
Motion planning in off-road environments requires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fallen log). In many recent works, the world is classified into…
To solve a navigation task based on experiences, we need a mechanism to associate places with objects and to recall them along the course of action. In a reward-oriented task, if the route to a reward location is simulated in mind after…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
The complexity of nearest-neighbor search dominates the asymptotic running time of many sampling-based motion-planning algorithms. However, collision detection is often considered to be the computational bottleneck in practice. Examining…
This dissertation is a study on the design and analysis of novel, optimal routing and rate control algorithms in wireless, mobile communication networks. Congestion control and routing algorithms upto now have been designed and optimized…
Two mobile agents, starting from different nodes of an unknown network, have to meet at the same node. Agents move in synchronous rounds using a deterministic algorithm. Each agent has a different label, which it can use in the execution of…
The Onion Router (Tor) relies on path selection algorithms to balance performance and anonymity by determining how traffic flows through its relay network. As Tor scales and usage patterns evolve, default strategies such as…
This paper applies Information Theoretic analysis to packet-based random multiple access communication systems. A new channel coding approach is proposed for coding within each data packet with built-in support for bursty traffic…
This thesis presents a number of results related to path traversal in trees and graphs. In particular, we focus on data structures which allow such traversals to be performed efficiently in the external memory setting. In addition, for…
The packet routing problem asks to select routing paths that minimize the maximum edge congestion for a set of packets specified by source-destination vertex pairs. We revisit a semi-oblivious approach to this problem: each…
Random Walk is a basic algorithm to explore the structure of networks, which can be used in many tasks, such as local community detection and network embedding. Existing random walk methods are based on single networks that contain limited…
We study the problem of computing the triplet distance between two rooted unordered trees with $n$ labeled leafs. Introduced by Dobson 1975, the triplet distance is the number of leaf triples that induce different topologies in the two…