Related papers: Persistent Monitoring in Discrete Environments: Mi…
We give a nearly optimal sublinear-time algorithm for approximating the size of a minimum vertex cover in a graph G. The algorithm may query the degree deg(v) of any vertex v of its choice, and for each 1 <= i <= deg(v), it may ask for the…
We develop new $(1+\epsilon)$-approximation algorithms for finding the global minimum edge-cut in a directed edge-weighted graph, and for finding the global minimum vertex-cut in a directed vertex-weighted graph. Our algorithms are…
We study the algorithmic problem of optimally covering a tree with $k$ mobile robots. The tree is known to all robots, and our goal is to assign a walk to each robot in such a way that the union of these walks covers the whole tree. We…
Let $\mathcal{W} \subset \mathbb{R}^2$ be a planar polygonal environment (i.e., a polygon potentially with holes) with a total of $n$ vertices, and let $A,B$ be two robots, each modeled as an axis-aligned unit square, that can translate…
We perform structural and algorithmic studies of significantly generalized versions of the optimal perimeter guarding (OPG) problem. As compared with the original OPG where robots are uniform, in this paper, many mobile robots with…
Given a set of $n$ point robots inside a simple polygon $P$, the task is to move the robots from their starting positions to their target positions along their shortest paths, while the mutual visibility of these robots is preserved.…
We present a time-optimal deterministic distributed algorithm for approximating a minimum weight vertex cover in hypergraphs of rank $f$. This problem is equivalent to the Minimum Weight Set Cover Problem in which the frequency of every…
We study the sample placement and shortest tour problem for robots tasked with mapping environmental phenomena modeled as stationary random fields. The objective is to minimize the resources used (samples or tour length) while guaranteeing…
Computing a (short) path between two vertices is one of the most fundamental primitives in graph algorithmics. In recent years, the study of paths in temporal graphs, that is, graphs where the vertex set is fixed but the edge set changes…
In this paper, we provide an algorithm for traversing geometric graphs which visits all vertices, and reports every vertex and edge exactly once. To achieve this, we combine a given geometric graph $G$ with the integer lattice, seen as a…
With the advent of autonomous robots with two- and three-dimensional scanning capabilities, classical visibility-based exploration methods from computational geometry have gained in practical importance. However, real-life laser scanning of…
This paper deals with the design of time-invariant memoryless control policies for robots that move in a finite two- dimensional lattice and are tasked with persistent surveillance of an area in which there are forbidden regions. We model…
A cycle cover of a graph is a set of cycles such that every vertex is part of exactly one cycle. An L-cycle cover is a cycle cover in which the length of every cycle is in the set L. We investigate how well L-cycle covers of minimum weight…
Node connectivity plays a central role in temporal network analysis. We provide a comprehensive study of various concepts of walks in temporal graphs, that is, graphs with fixed vertex sets but edge sets changing over time. Taking into…
Robots are becoming an increasingly common part of scientific work within laboratory environments. In this paper, we investigate the problem of designing \emph{schedules} for completing a set of tasks at fixed locations with multiple robots…
In a connected graph with an autonomous robot swarm with limited visibility, it is natural to ask whether the robots can be deployed to certain vertices satisfying a given property using only local knowledge. This paper affirmatively…
We study the problem of planning the deployments of a group of mobile robots. While the problem and formulation can be used for many different problems, here we use a bridge inspection as the motivating application for the purpose of…
In this paper we consider a robot patrolling problem in which events arrive randomly over time at the vertices of a graph. When an event arrives it remains active for a random amount of time. If that time active exceeds a certain threshold,…
The betweenness centrality of a graph vertex measures how often this vertex is visited on shortest paths between other vertices of the graph. In the analysis of many real-world graphs or networks, betweenness centrality of a vertex is used…
We study partial and budgeted versions of the well studied connected dominating set problem. In the partial connected dominating set problem, we are given an undirected graph G = (V,E) and an integer n', and the goal is to find a minimum…