Related papers: Persistent Monitoring in Discrete Environments: Mi…
Minimising the longest travel distance for a group of mobile robots with interchangeable goals requires knowledge of the shortest length paths between all robots and goal destinations. Determining the exact length of the shortest paths in…
We present a massively parallel algorithm, with near-linear memory per machine, that computes a $(2+\varepsilon)$-approximation of minimum-weight vertex cover in $O(\log\log d)$ rounds, where $d$ is the average degree of the input graph.…
We address the problem of efficient and unobstructed surveillance or communication in complex environments. On one hand, one wishes to use a minimal number of sensors to cover the environment. On the other hand, it is often important to…
Multi-Robot Coverage problems have been extensively studied in robotics, planning and multi-agent systems. In this work, we consider the coverage problem when there are constraints on the proximity (e.g., maximum distance between the…
We consider the following problem arising from the study of human problem solving: Let $G$ be a vertex-weighted graph with marked "in" and "out" vertices. Suppose a random walker begins at the in-vertex, steps to neighbors of vertices with…
We initiate the study of the parameterized complexity of the {\sc Collective Graph Exploration} ({\sc CGE}) problem. In {\sc CGE}, the input consists of an undirected connected graph $G$ and a collection of $k$ robots, initially placed at…
Constrained motion planning is a common but challenging problem in robotic manipulation. In recent years, data-driven constrained motion planning algorithms have shown impressive planning speed and success rate. Among them, the latent…
Attaining animal-like legged locomotion on rough outdoor terrain with sparse foothold affordances -a primary use-case for legs vs other forms of locomotion- is a largely open problem. New advancements in control and perception have enabled…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…
A searcher is tasked with exploring a graph with edge lengths and vertex weights, starting from a designated vertex. Initially, only the starting vertex is considered explored. At each step, the searcher adds an edge to the solution,…
The maximum independent set problem is one of the most important problems in graph algorithms and has been extensively studied in the line of research on the worst-case analysis of exact algorithms for NP-hard problems. In the weighted…
We examine the possibility of approximating Maximum Vertex-Disjoint Shortest Paths. In this problem, the input is an edge-weighted (directed or undirected) $n$-vertex graph $G$ along with $k$ terminal pairs…
For an arbitrary initial configuration of discrete loads over vertices of a distributed graph, we consider the problem of minimizing the {\em discrepancy} between the maximum and minimum loads among all vertices. For this problem, this…
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…
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…
Robots can be used to collect environmental data in regions that are difficult for humans to traverse. However, limitations remain in the size of region that a robot can directly observe per unit time. We introduce a method for selecting a…
Given an orthogonal polygon $ P $ with $ n $ vertices, the goal of the watchman route problem is finding a path $ S $ of the minimum length in $ P $ such that every point of the polygon $ P $ is visible from at least one of the point of $ S…
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…
An independent dominating set D of a graph G = (V,E) is a subset of vertices such that every vertex in V \ D has at least one neighbor in D and D is an independent set, i.e. no two vertices of D are adjacent in G. Finding a minimum…