Related papers: Tracking Moving Objects with Few Handovers
In this paper, we consider the Online Traveling Salesperson Problem (OLTSP) where the locations of the requests are known in advance, but not their arrival times. We study both the open variant, in which the algorithm is not required to…
In this paper, we tackle the copy-paste image-to-image composition problem with a focus on object placement learning. Prior methods have leveraged generative models to reduce the reliance for dense supervision. However, this often limits…
We study an extensive class of movement minimization problems which arise from many practical scenarios but so far have little theoretical study. In general, these problems involve planning the coordinated motion of a collection of agents…
Accurate maps are a prerequisite for virtually all mobile robot tasks. Most state-of-the-art maps assume a static world; therefore, dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving…
Set cover and hitting set are fundamental problems in combinatorial optimization which are well-studied in the offline, online, and dynamic settings. We study the geometric versions of these problems and present new online and dynamic…
We consider the following online optimization problem. We are given a graph $G$ and each vertex of the graph is assigned to one of $\ell$ servers, where servers have capacity $k$ and we assume that the graph has $\ell \cdot k$ vertices.…
Picking up multiple objects at once is a grasping skill that makes a human worker efficient in many domains. This paper presents a system to pick a requested number of objects by only picking once (OPO). The proposed Only-Pick-Once System…
Robots deployed in settings such as warehouses and parking lots must cope with frequent and substantial changes when localizing in their environments. While many previous localization and mapping algorithms have explored methods of…
We present deterministic and randomized algorithms for the problem of online packet routing in grids in the competitive network throughput model \cite{AKOR}. In this model the network has nodes with bounded buffers and bounded link…
We introduce a planner designed to guide robot manipulators in stably placing objects within intricate scenes. Our proposed method reverses the traditional approach to object placement: our planner selects contact points first and then…
In this paper, we provide a rigorous theoretical investigation of an online learning version of the Facility Location problem which is motivated by emerging problems in real-world applications. In our formulation, we are given a set of…
Navigating a collision-free and optimal trajectory for a robot is a challenging task, particularly in environments with moving obstacles such as humans. We formulate this problem as a stochastic optimal control problem. Since solving the…
For the online transportation problem with $m$ server sites, it has long been known that the competitive ratio of any deterministic algorithm is at least $2m-1$. Kalyanasundaram and Pruhs conjectured in 1998 that a deterministic…
We propose distributed algorithms to automatically deploy a team of mobile robots to partition and provide coverage of a non-convex environment. To handle arbitrary non-convex environments, we represent them as graphs. Our partitioning and…
We introduce the concept of continuous transportation task to the context of multi-agent systems. A continuous transportation task is one in which a multi-agent team visits a number of fixed locations, picks up objects, and delivers them to…
We investigate the problem of optimally assigning a large number of robots (or other types of autonomous agents) to guard the perimeters of closed 2D regions, where the perimeter of each region to be guarded may contain multiple disjoint…
In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…
We present algorithms for the online minimum hitting set problem in geometric range spaces: given a set $P$ of $n$ points in the plane and a sequence of geometric objects that arrive one-by-one, we need to maintain a hitting set at all…
$\delta$-Covering, for some covering range $\delta>0$, is a continuous facility location problem on undirected graphs where all edges have unit length. The facilities may be positioned on the vertices as well as on the interior of the…
We study the on-line minimum weighted bipartite matching problem in arbitrary metric spaces. Here, $n$ not necessary disjoint points of a metric space $M$ are given, and are to be matched on-line with $n$ points of $M$ revealed one by one.…