Related papers: Minimizing Task Space Frechet Error via Efficient …
The discrete Fr\'echet distance is a popular measure for comparing polygonal curves. An important variant is the discrete Fr\'echet distance under translation, which enables detection of similar movement patterns in different spatial…
We present a time-optimal deterministic distributed algorithm for approximating a minimum weight vertex cover in hypergraphs of rank $f$. This problem is equivalent to the Minimum Weight Set Cover Problem in which the frequency of every…
The Fr\'echet distance provides a natural and intuitive measure for the popular task of computing the similarity of two (polygonal) curves. While a simple algorithm computes it in near-quadratic time, a strongly subquadratic algorithm…
In this paper we explore a symmetry-based search space reduction technique which can speed up optimal pathfinding on undirected uniform-cost grid maps by up to 38 times. Our technique decomposes grid maps into a set of empty rectangles,…
There is a long history of approximation schemes for the problem of scheduling jobs on identical machines to minimize the makespan. Such a scheme grants a $(1+\epsilon)$-approximation solution for every $\epsilon > 0$, but the running time…
This study develops a graph search algorithm to find the optimal discrimination path for the binary classification problem. The objective function is defined as the difference of variations between the true positive (TP) and false positive…
We study the problem of quickly computing point-to-point shortest paths in massive road networks with traffic predictions. Incorporating traffic predictions into routing allows, for example, to avoid commuter traffic congestions. Existing…
Many methods have been developed for planning the motion of robotic arms for picking and placing, ranging from local optimization to global search techniques, which are effective for sparsely placed objects. Dense clutter, however, still…
In this paper, we study the problem of coverage planning by a mobile robot with a limited energy budget. The objective of the robot is to cover every point in the environment while minimizing the traveled path length. The environment is…
Many path planning algorithms are based on sampling the state space. While this approach is very simple, it can become costly when the obstacles are unknown, since samples hitting these obstacles are wasted. The goal of this paper is to…
Dense subgraph extraction is a fundamental problem in graph analysis and data mining, aimed at identifying cohesive and densely connected substructures within a given graph. It plays a crucial role in various domains, including social…
Consider the natural question of how to measure the similarity of curves in the plane by a quantity that is invariant under translations of the curves. Such a measure is justified whenever we aim to quantify the similarity of the curves'…
We propose DeepExplorer, a simple and lightweight metric-free exploration method for topological mapping of unknown environments. It performs task and motion planning (TAMP) entirely in image feature space. The task planner is a recurrent…
We present the generic Dijkstra shortest path algorithm: an efficient algorithm for finding a shortest path in an optical network, both in a wavelength-division multiplexed network, and an elastic optical network (EON). The proposed…
In this paper, we address the problem of scheduling a set of robots to complete tasks in a laboratory environment, modelled as a graph, while avoiding collisions. We analyze the dynamic programming algorithm (PA) introduced in…
We show how to combine two techniques for efficiently computing shortest paths in directed planar graphs. The first is the linear-time shortest-path algorithm of Henzinger, Klein, Subramanian, and Rao [STOC'94]. The second is Fakcharoenphol…
The Fr\'echet distance is a popular distance measure between trajectories or curves in space, or between walks in graphs. We study computing the Fr\'echet distance between walks in the $d$-dimensional grid graphs, i.e. $\mathbb{Z}^d$ where…
Continuous harvesting and storage of multiple fruits in a single operation allow robots to significantly reduce the travel distance required for repetitive back-and-forth movements. Traditional collision-free path planning algorithms, such…
Many combinatorial optimization problems can be formulated as the search for a subgraph that satisfies certain properties and minimizes the total weight. We assume here that the vertices correspond to points in a metric space and can take…
Sampling-based algorithms solve the path planning problem by generating random samples in the search-space and incrementally growing a connectivity graph or a tree. Conventionally, the sampling strategy used in these algorithms is biased…