Related papers: Exact and approximate algorithms for movement prob…
Coverage problem in wireless sensor networks measures how well a region or parts of it is sensed by the deployed sensors. Definition of coverage metric depends on its applications for which sensors are deployed. In this paper, we introduce…
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…
Data driven models of dynamical systems help planners and controllers to provide more precise and accurate motions. Most model learning algorithms will try to minimize a loss function between the observed data and the model's predictions.…
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…
In networked systems, monitoring devices such as sensors are typically deployed to monitor various target locations. Targets are the points in the physical space at which events of some interest, such as random faults or attacks, can occur.…
This paper is about the construction of displacement interpolations on a discrete metric graph. Our approach is based on the approximation of any optimal transport problem whose cost function is a distance on a discrete graph by a sequence…
This paper develops a planner to find an optimal assembly sequence to assemble several objects. The input to the planner is the mesh models of the objects, the relative poses between the objects in the assembly, and the final pose of the…
The paper focuses on two problems: (i) how to orient the edges of an undirected graph in order to maximize the number of ordered vertex pairs (x,y) such that there is a directed path from x to y, and (ii) how to orient the edges so as to…
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…
Compact representations of objects is a common concept in computer science. Automated planning can be viewed as a case of this concept: a planning instance is a compact implicit representation of a graph and the problem is to find a path (a…
We consider a routing problem which plays an important role in several applications, primarily in communication network planning and VLSI layout design. The original underlying graph algorithmic task is called Disjoint Paths problem. In…
Given an undirected graph, $G$, and vertices, $s$ and $t$ in $G$, the tracking paths problem is that of finding the smallest subset of vertices in $G$ whose intersection with any $s$-$t$ path results in a unique sequence. This problem is…
We study the problem of finding the maximum of a function defined on the nodes of a connected graph. The goal is to identify a node where the function obtains its maximum. We focus on local iterative algorithms, which traverse the nodes of…
In this paper we consider shortest path problems in a directed graph where the transitions between nodes are subject to uncertainty. We use a minimax formulation, where the objective is to guarantee that a special destination state is…
We consider the following problem - a group of mobile agents perform some task on a terrain modeled as a graph. In a given moment of time an adversary gets an access to the graph and positions of the agents. Shortly before adversary's…
We study a mobile wireless sensor network (MWSN) consisting of multiple mobile sensors or robots. Three key factors in MWSNs, sensing quality, energy consumption, and connectivity, have attracted plenty of attention, but the interaction of…
In well-studied graph modification problems, adding and deleting vertices and edges are used as graph editing operations. We propose a model for graph modification on geometric intersection graphs called Geometric Graph Edit Distance that…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
Human mobility analysis at urban-scale requires models to represent the complex nature of human movements, which in turn are affected by accessibility to nearby points of interest, underlying socioeconomic factors of a place, and local…
Emerging reconfigurable optical communication technologies allow to enhance datacenter topologies with demand-aware links optimized towards traffic patterns. This paper studies the algorithmic problem of jointly optimizing topology and…