Related papers: A nearly optimal algorithm for deciding connectivi…
We consider the problem of computing shortest paths in a dense motion-planning roadmap $\mathcal{G}$. We assume that~$n$, the number of vertices of $\mathcal{G}$, is very large. Thus, using any path-planning algorithm that directly searches…
We consider the problem of finding edge-disjoint paths between given pairs of vertices in a sufficiently strong $d$-regular expander graph $G$ with $n$ vertices. In particular, we describe a deterministic, polynomial time algorithm which…
We present a quantum algorithm for sampling an edge on a path between two nodes s and t in an undirected graph given as an adjacency matrix, and show that this can be done in query complexity that is asymptotically the same, up to log…
The Semialgebraic Orbit Problem is a fundamental reachability question that arises in the analysis of discrete-time linear dynamical systems such as automata, Markov chains, recurrence sequences, and linear while loops. An instance of the…
The 17th of the problems proposed by Steve Smale for the 21st century asks for the existence of a deterministic algorithm computing an approximate solution of a system of $n$ complex polynomials in $n$ unknowns in time polynomial, on the…
Given an undirected graph and two disjoint vertex pairs $s_1,t_1$ and $s_2,t_2$, the Shortest two disjoint paths problem (S2DP) asks for the minimum total length of two vertex disjoint paths connecting $s_1$ with $t_1$, and $s_2$ with…
We present some algorithms that provide useful topological information about curves in surfaces. One of the main algorithms computes the geometric intersection number of two properly embedded 1-manifolds $C_1$ and $C_2$ in a compact…
Informative path planning algorithms are of paramount importance in applications like disaster management to efficiently gather information through a priori unknown environments. This is, however, a complex problem that involves finding a…
Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…
We present a theoretical analysis of a recent whole body motion planning method, the Randomized Possibility Graph, which uses a high-level decomposition of the feasibility constraint manifold in order to rapidly find routes that may lead to…
This is a computational study of bottlenecks on algebraic varieties. The bottlenecks of a smooth variety $X \subseteq \mathbb{C}^n$ are the lines in $\mathbb{C}^n$ which are normal to $X$ at two distinct points. The main result is a…
It is known that point searching in basic semialgebraic sets and the search for globally minimal points in polynomial optimization tasks can be carried out using $(s\,d)^{O(n)}$ arithmetic operations, where $n$ and $s$ are the numbers of…
We study an ancient problem that in a static or dynamical system, sought an optimal path, which the context always means within an extremal condition. In fact, through those discussions about this theme, we established a universal essential…
A semi-algebraic set is a subset of the real space defined by polynomial equations and inequalities having real coefficients and is a union of finitely many maximally connected components. We consider the problem of deciding whether two…
This paper describes a revision of the classic Lazy Probabilistic Roadmaps algorithm (Lazy PRM), that results from pairing PRM and a novel Branch-and-Cut (BC) algorithm. Cuts are dynamically generated constraints that are imposed on minimum…
We design fast deterministic algorithms for distance computation in the congested clique model. Our key contributions include: -- A $(2+\epsilon)$-approximation for all-pairs shortest paths in $O(\log^2{n} / \epsilon)$ rounds on unweighted…
The problem of finding a path between two points while avoiding obstacles is critical in robotic path planning. We focus on the feasibility problem: determining whether such a path exists. We model the robot as a query-specific rectangular…
This paper introduces a graph-based, potential-guided method for path planning problems in unknown environments, where obstacles are unknown until the robots are in close proximity to the obstacle locations. Inspired by optimal transport…
We present a new algorithm for determining the satisfiability of conjunctions of non-linear polynomial constraints over the reals, which can be used as a theory solver for satisfiability modulo theory (SMT) solving for non-linear real…
Given a graph $G$, and terminal vertices $s$ and $t$, the TRACKING PATHS problem asks to compute a minimum number of vertices to be marked as trackers, such that the sequence of trackers encountered in each s-t path is unique. TRACKING…