Related papers: On the Structure of the Time-Optimal Path Paramete…
This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find the shortest path to observe multiple targets with a limited…
Optimization problems involving complex variables, when solved, are typically transformed into real variables, often at the expense of convergence rate and interpretability. This paper introduces a novel formalism for a prominent problem in…
Max Restricted Path Consistency (maxRPC) is a local consistency for binary constraints that can achieve considerably stronger pruning than arc consistency. However, existing maxRRC algorithms suffer from overheads and redundancies as they…
The purpose of this work is to introduce and characterize the Bounded Acceleration Shortest Path (BASP) problem, a generalization of the Shortest Path (SP) problem. This problem is associated to a graph: the nodes represent positions of a…
Finding a shortest path in a graph is one of the most classic problems in algorithmic and graph theory. While we dispose of quite efficient algorithms for this ordinary problem (like the Dijkstra or Bellman-Ford algorithms), some slight…
The constrained path optimization (CPO) problem takes the following input: (a) a road network represented as a directed graph, where each edge is associated with a "cost" and a "score" value; (b) a source-destination pair and; (c) a budget…
In the past decade, many parameterized algorithms were developed for packing problems. Our goal is to obtain tradeoffs that improve the running times of these algorithms at the cost of computing approximate solutions. Consider a packing…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
Given a geometric path, the Time-Optimal Path Tracking problem consists in finding the control strategy to traverse the path time-optimally while regulating tracking errors. A simple yet effective approach to this problem is to decompose…
This article introduces a multimodal motion planning (MMP) algorithm that combines three-dimensional (3-D) path planning and a DWA obstacle avoidance algorithm. The algorithms aim to plan the path and motion of obstacle-overcoming robots in…
The Team Orienteering Problem with Service Times and Mandatory & Incompatible Nodes (TOP-ST-MIN) is a variant of the classic Team Orienteering Problem (TOP), which includes three novel features that stem from two real-world problems…
In Path Set Packing, the input is an undirected graph $G$, a collection $\calp$ of simple paths in $G$, and a positive integer $k$. The problem is to decide whether there exist $k$ edge-disjoint paths in $\calp$. We study the parameterized…
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…
Several variants of the Constraint Satisfaction Problem have been proposed and investigated in the literature for modelling those scenarios where solutions are associated with some given costs. Within these frameworks computing an optimal…
In this paper, we study the problem of map matching with travel time constraints. Given a sequence of $k$ spatio-temporal measurements and an embedded path graph with travel time costs, the goal is to snap each measurement to a close-by…
Path-following algorithms are frequently used in composite optimization problems where a series of subproblems, with varying regularization hyperparameters, are solved sequentially. By reusing the previous solutions as initialization,…
It has been observed that the very important motion planning problem of robotics mathematically speaking boils down to the problem of finding a section to the path-space fibration, raising the notion of topological complexity, as introduced…
We approach the Max-3-Cut problem through the lens of maximizing complex-valued quadratic forms and demonstrate that low-rank structure in the objective matrix can be exploited, leading to alternative algorithms to classical semidefinite…
In this thesis, we aim to improve the performance of TAMP algorithms from three complementary perspectives. First, we investigate the integration of discrete task planning with continuous trajectory optimization. Our main contribution is a…
Most interesting problems in robotics (e.g., locomotion and manipulation) are realized through intermittent contact with the environment. Due to the perception and modeling errors, assuming an exact time for establishing contact with the…