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Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…

In this paper, we introduce a trajectory planning problem for a marsupial robotics system consisting of a ground robot, a drone, and a taut tether of bounded length connecting the two robots. This problem can be framed within the context of…

We have developed an algorithm to generate a complete map of the traversable region for a personal assistant robot using monocular vision only. Using multiple taken by a simple webcam, obstacle detection and avoidance algorithms have been…

Analog layout synthesis requires some elements in the circuit netlist to be matched and placed symmetrically. However, the set of symmetries is very circuit-specific and a versatile algorithm, applicable to a broad variety of circuits, has…

Multi-task learning is a powerful method for solving several tasks jointly by learning robust representation. Optimization of the multi-task learning model is a more complex task than a single-task due to task conflict. Based on theoretical…

A metro-line crossing minimization problem is to draw multiple lines on an underlying graph that models stations and rail tracks so that the number of crossings of lines becomes minimum. It has several variations by adding restrictions on…

In this paper we present a novel non-parametric method of simplifying piecewise linear curves and we apply this method as a statistical approximation of structure within sequential data in the plane. We consider the problem of minimizing…

Developing a safe, stable, and efficient obstacle avoidance policy in crowded and narrow scenarios for multiple robots is challenging. Most existing studies either use centralized control or need communication with other robots. In this…

Detecting polygons defined by a set of line segments in a plane is an important step in analyzing vector drawings. This paper presents an approach combining several algorithms to detect basic polygons from arbitrary line segments. The…

Given a n points in two dimensional space, a Manhattan Network G is a network that connects all n points with either horizontal or vertical edges, with the property that for any two point in G should be connected by a Manhattan path and…

A problem that arises in drawings of transportation networks is to minimize the number of crossings between different transportation lines. While this can be done efficiently under specific constraints, not all solutions are visually…

Recently, machine learning (ML) methods have been developed for increasing the accuracy of robot mechanisms. Complex mechanical issues such as non-linear friction, backlash, flexibility of structure transmission elements can cause these…

We study the rendezvous problem for two robots moving in the plane (or on a line). Robots are autonomous, anonymous, oblivious, and carry colored lights that are visible to both. We consider deterministic distributed algorithms in which…

Visualizing very large matrices involves many formidable problems. Various popular solutions to these problems involve sampling, clustering, projection, or feature selection to reduce the size and complexity of the original task. An…

We provide a linear time algorithm to determine the flip distance between two plane spanning paths on a point set in convex position. At the same time, we show that the happy edge property does not hold in this setting. This has to be seen…

In this paper, we discuss an efficient algorithm for computing the growth distance between two compact convex sets with representable support functions. The growth distance between two sets is the minimum scaling factor such that the sets…

A common approach to compute distances on continuous surfaces is by considering a discretized polygonal mesh approximating the surface and estimating distances on the polygon. We show that exact geodesic distances restricted to the polygon…

Recent years have witnessed a tremendous growth using topological summaries, especially the persistence diagrams (encoding the so-called persistent homology) for analyzing complex shapes. Intuitively, persistent homology maps a potentially…

This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…

We study the sample placement and shortest tour problem for robots tasked with mapping environmental phenomena modeled as stationary random fields. The objective is to minimize the resources used (samples or tour length) while guaranteeing…