Related papers: Approximation Algorithms for Movement Repairmen
This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space…
In the Distance-constrained Vehicle Routing Problem (DVRP), we are given a graph with integer edge weights, a depot, a set of $n$ terminals, and a distance constraint $D$. The goal is to find a minimum number of tours starting and ending at…
The general inverse kinematics (IK) problem of a manipulator, namely that of acquiring the self-motion manifold (SMM) of all admissible joint angles for a desired end-effector pose, plays a vital role in robotics modeling, planning and…
Combinatorial optimization (CO) problems arise across a broad spectrum of domains, including medicine, logistics, and manufacturing. While exact solutions are often computationally infeasible, many practical applications require…
Given a set $P$ of $n$ points with their pairwise distances, the traveling salesman problem (TSP) asks for a shortest tour that visits each point exactly once. A TSP instance is rectilinear when the points lie in the plane and the distance…
The Travelling Salesman Problem is one the most fundamental and most studied problems in approximation algorithms. For more than 30 years, the best algorithm known for general metrics has been Christofides's algorithm with approximation…
Dynamic routing occurs when customers are not known in advance, e.g. for real-time routing. Two heuristics are proposed that solve the balanced dynamic multiple travelling salesmen problem (BD-mTSP). These heuristics represent operational…
We consider the online machine minimization problem in which jobs with hard deadlines arrive online over time at their release dates. The task is to determine a feasible schedule on a minimum number of machines. Our main result is a general…
In the Min-cost Perfect Matching with Delays (MPMD) problem, 2 m requests arrive over time at points of a metric space. An online algorithm has to connect these requests in pairs, but a decision to match may be postponed till a more…
In the geometric transportation problem, we are given a collection of points $P$ in $d$-dimensional Euclidean space, and each point is given a supply of $\mu(p)$ units of mass, where $\mu(p)$ could be a positive or a negative integer, and…
We study the online Traveling Salesman Problem (TSP) on the line augmented with machine-learned predictions. In the classical problem, there is a stream of requests released over time along the real line. The goal is to minimize the…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
We consider the file maintenance problem (also called the online labeling problem) in which n integer items from the set {1,...,r} are to be stored in an array of size m >= n. The items are presented sequentially in an arbitrary order, and…
We present approximation algorithms for almost all variants of the multi-criteria traveling salesman problem (TSP). First, we devise randomized approximation algorithms for multi-criteria maximum traveling salesman problems (Max-TSP). For…
This work focuses on the dual-arm object rearrangement problem abstracted from a realistic industrial scenario of Cartesian robots. The goal of this problem is to transfer all the objects from sources to targets with the minimum total…
This article proposes the first known algorithm that achieves a constant-factor approximation of the minimum length tour for a Dubins' vehicle through $n$ points on the plane. By Dubins' vehicle, we mean a vehicle constrained to move at…
This paper presents a minimum displacement motion planning problem wherein obstacles are displaced by a minimum amount to find a feasible path. We define a metric for robot-obstacle intersection that measures the extent of the intersection…
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…
We consider the classic problem of scheduling a set of n jobs non-preemptively on a single machine. Each job j has non-negative processing time, weight, and deadline, and a feasible schedule needs to be consistent with chain-like precedence…
We consider a problem of robotic router placement and mobility control with the objective of formation and maintenance of an optimal communication network between a set of transmitter-receiver pairs. In this scenario, the communication path…