Related papers: Approximation Algorithms for Minimizing Maximum Se…
Map based visual inertial localization is a crucial step to reduce the drift in state estimation of mobile robots. The underlying problem for localization is to estimate the pose from a set of 3D-2D feature correspondences, of which the…
In this paper, a cooperative localization algorithm is proposed that considers the existence of obstacles in mobilityassisted wireless sensor networks (WSNs). In this scheme, a mobile anchor (MA) node cooperates with static sensor nodes and…
Movable antenna (MA) is a promising technology for improving the performance of wireless communication systems by providing new degrees-of-freedom (DoFs) in antenna position optimization. However, existing works on MA systems have mostly…
We investigate semi-streaming algorithms for the Traveling Salesman Problem (TSP). Specifically, we focus on a variant known as the $(1,2)$-TSP, where the distances between any two vertices are either one or two. Our primary emphasis is on…
We give sublinear-time approximation algorithms for some optimization problems arising in machine learning, such as training linear classifiers and finding minimum enclosing balls. Our algorithms can be extended to some kernelized versions…
The virtualization and softwarization of modern computer networks introduces interesting new opportunities for a more flexible placement of network functions and middleboxes (firewalls, proxies, traffic optimizers, virtual switches, etc.).…
Unmanned Aerial Vehicle (UAV) networks have emerged as a promising technique to rapidly provide wireless coverage to a geographical area, where a flying UAV can be fast deployed to serve as cell site. Existing work on UAV-enabled wireless…
In this paper, we focus on the modification of policies that can lead to movement patterns and directional guidance of occupants, which are represented as agents in a 3D simulation engine. We demonstrate an optimization method that improves…
Aerial base stations (ABSs) mounted on unmanned aerial vehicles (UAVs) are capable of extending wireless connectivity to ground users (GUs) across a variety of scenarios. However, it is an NP-hard problem with exponential complexity in $M$…
Millimeter wave communications rely on narrow-beam transmissions to cope with the strong signal attenuation at these frequencies, thus demanding precise beam alignment between transmitter and receiver. The communication overhead incurred to…
Real-world data such as digital images, MRI scans and electroencephalography signals are naturally represented as matrices with structural information. Most existing classifiers aim to capture these structures by regularizing the regression…
The essential of navigation, perception, and decision-making which are basic tasks for intelligent robots, is to estimate necessary system states. Among them, navigation is fundamental for other upper applications, providing precise…
A large number of cameras embedded on smart-phones, drones or inside cars have a direct access to external motion sensing from gyroscopes and accelerometers. On these power-limited devices, video compression must be of low-complexity. For…
Active perception is a fundamental problem in autonomous robotics in which the robot must decide where to move and what to sense in order to obtain the most informative observations for accomplishing its mission. Existing approaches either…
This paper considers a movable antenna (MA)-aided secure multiple-input multiple-output (MIMO) communication system consisting of a base station (BS), a legitimate information receiver (IR) and an eavesdropper (Eve), where the BS is…
We consider the problem of finding patrol schedules for $k$ robots to visit a given set of $n$ sites in a metric space. Each robot has the same maximum speed and the goal is to minimize the weighted maximum latency of any site, where the…
Fast and efficient sampling-based motion planning (SMP) is an integral component of many robotic systems, such as autonomous cars. A popular technique to improve the efficiency of these planners is to restrict search space in the planning…
Many WSN protocols require the location coordinates of the sensor nodes, as it is useful to consider the data collected by the sensors in the context of the location from which they were collected. Thus, one of the major challenges in WSNs…
We present approximation algorithms for almost all variants of the multi-criteria traveling salesman problem (TSP). First, we devise randomized approximation algorithms for multi-criteria maximum traveling salesman problems (Max-TSP). For…
In this work, we consider the Submodular Maximization under Knapsack (SMK) constraint problem over the ground set of size $n$. The problem recently attracted a lot of attention due to its applications in various domains of combination…