Related papers: An Approximation Algorithm for a Shortest Dubins P…
Given a line barrier and a set of mobile sensors distributed in the plane, the Minimizing Maximum Sensor Movement problem (MMSM) for \textcolor{black}{line barrier coverage} is to compute relocation positions for the sensors in the plane…
We investigate the problem of finding paths that enable a robot modeled as a Dubins car (i.e., a constant-speed finite-turn-rate unicycle) to escape from a circular region of space in minimum time. This minimum-time escape problem arises in…
Continuing our preleminary work \cite{knowles14}, we define the safest-with-sight pathfinding problems and explore its solution using techniques borrowed from measure-theoretic probability theory. We find a simple recursive definition for…
We investigate the problem of computing a minimum set of solutions that approximates within a specified accuracy $\epsilon$ the Pareto curve of a multiobjective optimization problem. We show that for a broad class of bi-objective problems…
The minimum distance of a code is an important concept in information theory. Hence, computing the minimum distance of a code with a minimum computational cost is a crucial process to many problems in this area. In this paper, we present…
The Bin Packing Problem is one of the most important Combinatorial Optimization problems in optimization and has a lot of real-world applications. Many approximation algorithms have been presented for this problem because of its NP-hard…
In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…
We consider three shortest path problems in directed graphs with random arc lengths. For the first and the second problems, a risk measure is involved. While the first problem consists in finding a path minimizing this risk measure, the…
In this paper, we present several results of both theoretical as well as practical interests. First, we propose the quota lawn mowing problem, an extension of the classic lawn mowing problem in computational geometry, as follows: given a…
Computing the shortest path between two given locations in a road network is an important problem that finds applications in various map services and commercial navigation products. The state-of-the-art solutions for the problem can be…
Computing shortest paths is one of the most researched topics in algorithm engineering. Currently available algorithms compute shortest paths in mere fractions of a second on continental sized road networks. In the presence of…
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
We propose and study an algorithm for computing a nearest passive system to a given non-passive linear time-invariant system (with much freedom in the choice of the metric defining `nearest', which may be restricted to structured…
This paper formalizes path planning problem for a group of heterogeneous Dubins vehicles performing tasks in a remote fashion and develops a memetic algorithm-based method to effectively produce the paths. In the setting, the vehicles are…
With technological advancement, drone has emerged as unmanned aerial vehicle that can be controlled by humans to fly or reach a destination. This may be autonomous as well, where the drone itself is intelligent enough to find a shortest…
A path from s to t on a polyhedral terrain is descending if the height of a point p never increases while we move p along the path from s to t. No efficient algorithm is known to find a shortest descending path (SDP) from s to t in a…
In the continuous 1.5-dimensional terrain guarding problem we are given an $x$-monotone chain (the \emph{terrain} $T$) and ask for the minimum number of point guards (located anywhere on $T$), such that all points of $T$ are covered by at…
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 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…
In real-time trajectory planning for unmanned vehicles, on-board sensors, radars and other instruments are used to collect information on possible obstacles to be avoided and pathways to be followed. Since, in practice, observations of the…