Related papers: Persistent Monitoring in Discrete Environments: Mi…
We consider the problem of planning a closed walk $\mathcal W$ for a UAV to persistently monitor a finite number of stationary targets with equal priorities and dynamically changing properties. A UAV must physically visit the targets in…
Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate…
Given in the plane a set $S$ of $n$ points and a set of disks centered at these points, the disk graph $G(S)$ induced by these disks has vertex set $S$ and an edge between two vertices if their disks intersect. Note that the disks may have…
Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…
We consider the problem of augmenting an $n$-vertex tree with one shortcut in order to minimize the diameter of the resulting graph. The tree is embedded in an unknown space and we have access to an oracle that, when queried on a pair of…
In this paper, we tackle the problem of planning an optimal coverage path for a robot operating indoors. Many existing approaches attempt to discourage turns in the path by covering the environment along the least number of coverage lines,…
Some of the most fundamental and well-studied graph parameters are the Diameter (the largest shortest paths distance) and Radius (the smallest distance for which a "center" node can reach all other nodes). The natural and important…
A mobile robot represented by a point moving in the plane has to explore an unknown terrain with obstacles. Both the terrain and the obstacles are modeled as arbitrary polygons. We consider two scenarios: the unlimited vision, when the…
A strength of parameterized algorithmics is that each problem can be parameterized by an essentially inexhaustible set of parameters. Usually, the choice of the considered parameter is informed by the theoretical relations between…
We study the Shortest-Walk Problem (SWP) in a Graph of Convex Sets (GCS). A GCS is a graph where each vertex is paired with a convex program, and each edge couples adjacent programs via additional costs and constraints. A walk in a GCS is a…
One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…
In the rendezvous problem, two computing entities (called \emph{agents}) located at different vertices in a graph have to meet at the same vertex. In this paper, we consider the synchronous \emph{neighborhood rendezvous problem}, where the…
Betweenness centrality, measured by the number of times a vertex occurs on all shortest paths of a graph, has been recognized as a key indicator for the importance of a vertex in the network. However, the betweenness of a vertex is often…
The emergence of massive graph data sets requires fast mining algorithms. Centrality measures to identify important vertices belong to the most popular analysis methods in graph mining. A measure that is gaining attention is forest…
Motivated by applications to poaching and burglary prevention, we define a class of weighted Traveling Salesman Problems on metric spaces. The goal is to output an infinite (though typically periodic) tour that visits the n points…
Most consumer-level low-cost unmanned aerial vehicles (UAVs) have limited battery power and long charging time. Due to these energy constraints, they cannot accomplish many practical tasks, such as monitoring a sport or political event for…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
The quantum walk dynamics obey the laws of quantum mechanics with an extra locality constraint, which demands that the evolution operator is local in the sense that the walker must visit the neighboring locations before endeavoring to…
Motion planning problems have been studied by both the robotics and the controls research communities for a long time, and many algorithms have been developed for their solution. Among them, incremental sampling-based motion planning…
In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue…