Related papers: Near-Optimal Edge Evaluation in Explicit Generaliz…
When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…
Shortest-path roadmaps, also known as reduced visibility graphs, provides a highly efficient multi-query method for computing optimal paths in two-dimensional environments. Combined with Minkowski sum computations, shortest-path roadmaps…
While multi-joint continuum robots are highly dexterous and flexible, designing an optimal robot can be challenging due to its kinematics involving curvatures. Hence, the current work presents a computational method developed to find…
Adjoint-based optimization methods are attractive for aerodynamic shape design primarily due to their computational costs being independent of the dimensionality of the input space and their ability to generate high-fidelity gradients that…
Soft robots, inspired by elephant trunks or octopus arms, offer extraordinary flexibility to bend, twist, and elongate in ways that rigid robots cannot. However, their motion planning remains a challenge, especially in cluttered…
Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to…
We study the path planning problem for continuum-arm robots, in which we are given a starting and an end point, and we need to compute a path for the tip of the continuum arm between the two points. We consider both cases where obstacles…
Two-stage methods addressing continuous shortest path problems start local minimization from discrete shortest paths in a spatial graph. The convergence of such hybrid methods to global minimizers hinges on the discretization error induced…
Finding a maximum cut is a fundamental task in many computational settings. Surprisingly, it has been insufficiently studied in the classic distributed settings, where vertices communicate by synchronously sending messages to their…
The graph bisection problem is the problem of partitioning the vertex set of a graph into two sets of given sizes such that the sum of weights of edges joining these two sets is optimized. We present a semidefinite programming relaxation…
We design improved approximation algorithms for NP-hard graph problems by incorporating predictions (e.g., learned from past data). Our prediction model builds upon and extends the $\varepsilon$-prediction framework by Cohen-Addad, d'Orsi,…
The autonomous exploration of environments by multi-robot systems is a critical task with broad applications in rescue missions, exploration endeavors, and beyond. Current approaches often rely on either greedy frontier selection or…
Finding asymptotically-optimal paths in multi-robot motion planning problems could be achieved, in principle, using sampling-based planners in the composite configuration space of all of the robots in the space. The dimensionality of this…
We study dynamic graph algorithms in the Massively Parallel Computation model, which was inspired by practical data processing systems. Our goal is to provide algorithms that can efficiently handle large batches of edge insertions and…
The Lazy Shortest Path (LazySP) class consists of motion-planning algorithms that only evaluate edges along shortest paths between the source and target. These algorithms were designed to minimize the number of edge evaluations in settings…
Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…
We consider the problem of finding an edge in a hidden undirected graph $G = (V, E)$ with $n$ vertices, in a model where we only allowed queries that ask whether or not a subset of vertices contains an edge. We study the non-adaptive model…
As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…
We present a simple nonadaptive randomized algorithm that estimates the number of edges in a simple, unweighted, undirected graph, possibly containing isolated vertices, using only degree and random edge queries. For an $n$-vertex graph,…
Effective risk monitoring in dynamic environments such as disaster zones requires an adaptive exploration strategy to detect hidden threats. We propose a bi-level unmanned aerial vehicle (UAV) monitoring strategy that efficiently integrates…