Related papers: Optimal obstacle placement with disambiguations
We consider an autonomous navigation problem, whereby a traveler aims at traversing an environment in which an adversary tries to set an ambush. A two players zero sum game is introduced. Players' strategies are computed as random path…
In order to improve usability and safety, modern unmanned aerial vehicles (UAVs) are equipped with sensors to monitor the environment, such as laser-scanners and cameras. One important aspect in this monitoring process is to detect…
This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…
Navigation Among Movable Obstacles (NAMO) poses a challenge for traditional path-planning methods when obstacles block the path, requiring push actions to reach the goal. We propose a framework that enables movability-aware planning to…
Navigation among movable obstacles (NAMO) is a critical task in robotics, often challenged by real-world uncertainties such as observation noise, model approximations, action failures, and partial observability. Existing solutions…
In this article, we consider a multi-agent path planning problem in a partially impeded environment. The impeded environment is represented by a graph with select road segments (edges) in disrepair impeding vehicular movement in the road…
We study the Maximum Budgeted Allocation problem, which is the problem of assigning indivisible items to players with budget constraints. In its most general form, an instance of the MBA problem might include many different prices for the…
We investigate a single machine rescheduling problem that arises from an unexpected machine unavailability, after the given set of jobs has already been scheduled to minimize the total weighted completion time. Such a disruption is…
This paper focuses on vision-based pose estimation for multiple rigid objects placed in clutter, especially in cases involving occlusions and objects resting on each other. Progress has been achieved recently in object recognition given…
In this work, we study a class of deception planning problems in which an agent aims to alter a security monitoring system's sensor readings so as to disguise its adversarial itinerary as an allowed itinerary in the environment. The…
Unmanned Aerial Vehicles (UAVs) are suited as cost-effective and adaptable platforms for carrying Wi-Fi Access Points (APs) and cellular Base Stations (BSs). Implementing aerial networks in disaster management scenarios and crowded areas…
In this paper, we investigate the online parcel assignment (OPA) problem, in which each stochastically generated parcel needs to be assigned to a candidate route for delivery to minimize the total cost subject to certain business…
The paper presents a movement strategy for Connected and Automated Vehicles (CAVs) in a lane-free traffic environment with vehicle nudging by use of an optimal control approach. State-dependent constraints on control inputs are considered…
We introduce optimal algorithms for the problems of data placement (DP) and page placement (PP) in networks with a constant number of clients each of which has limited storage availability and issues requests for data objects. The objective…
It is an attractive hypothesis that the spatial structure of visual cortical architecture can be explained by the coordinated optimization of multiple visual cortical maps representing orientation preference (OP), ocular dominance (OD),…
We consider an Anonymous Multi-Agent Path-Finding (AMAPF) problem where the set of agents is confined to a graph, a set of goal vertices is given and each of these vertices has to be reached by some agent. The problem is to find an…
Optimal resource allocation (RA) in massive carrier aggregation scenarios is a challenging combinatorial optimization problem whose dimension is proportional to the number of users, component carriers (CCs), and OFDMA resource blocks per…
In order to enable Micro-Aerial Vehicles (MAVs) to assist in complex, unknown, unstructured environments, they must be able to navigate with guaranteed safety, even when faced with a cluttered environment they have no prior knowledge of.…
We study the online discrepancy minimization problem for vectors in $\mathbb{R}^d$ in the oblivious setting where an adversary is allowed fix the vectors $x_1, x_2, \ldots, x_n$ in arbitrary order ahead of time. We give an algorithm that…
Set partitioning is a key component of many algorithms in machine learning, signal processing, and communications. In general, the problem of finding a partition that minimizes a given impurity (loss function) is NP-hard. As such, there…