Related papers: Exact and approximate algorithms for movement prob…
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,…
This paper studies the problem of detection and tracking of general objects with long-term dynamics, observed by a mobile robot moving in a large environment. A key problem is that due to the environment scale, it can only observe a subset…
The past decade has amply demonstrated the remarkable functionality that can be realized by learning complex input/output relationships. Algorithmically, one of the most important and opaque relationships is that between a problem's…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
Graphs are widespread data structures used to model a wide variety of problems. The sheer amount of data to be processed has prompted the creation of a myriad of systems that help us cope with massive scale graphs. The pressure to deliver…
Recent work in the construction of 3D scene graphs has enabled mobile robots to build large-scale metric-semantic hierarchical representations of the world. These detailed models contain information that is useful for planning, however an…
Network alignment generalizes and unifies several approaches for forming a matching or alignment between the vertices of two graphs. We study a mathematical programming framework for network alignment problem and a sparse variation of it…
The problem of planning for a robot that operates in environments containing a large number of objects, taking actions to move itself through the world as well as to change the state of the objects, is known as task and motion planning…
The mobile robot dispersion problem on graphs asks $k\leq n$ robots placed initially arbitrarily on the nodes of an $n$-node anonymous graph to reposition autonomously to reach a configuration in which each robot is on a distinct node of…
We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient…
The coflow scheduling problem has emerged as a popular abstraction in the last few years to study data communication problems within a data center. In this basic framework, each coflow has a set of communication demands and the goal is to…
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…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
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…
The subject of this work is the patrolling of an environment with the aid of a team of autonomous agents. We consider both the design of open-loop trajectories with optimal properties, and of distributed control laws converging to optimal…
We consider optimal route planning when the objective function is a general nonlinear and non-monotonic function. Such an objective models user behavior more accurately, for example, when a user is risk-averse, or the utility function needs…
The graph matching optimization problem is an essential component for many tasks in computer vision, such as bringing two deformable objects in correspondence. Naturally, a wide range of applicable algorithms have been proposed in the last…
Dynamic graphs have emerged as an appropriate model to capture the changing nature of many modern networks, such as peer-to-peer overlays and mobile ad hoc networks. Most of the recent research on dynamic networks has only addressed the…
$\newcommand{\eps}{\varepsilon}$ In this paper, we consider two important problems defined on finite metric spaces, and provide efficient new algorithms and approximation schemes for these problems on inputs given as graph shortest path…
Many problems in machine learning involve calculating correspondences between sets of objects, such as point clouds or images. Discrete optimal transport provides a natural and successful approach to such tasks whenever the two sets of…