Related papers: Constant Factor Time Optimal Multi-Robot Routing o…
In this paper we study multi-robot path planning for persistent monitoring tasks. We consider the case where robots have a limited battery capacity with a discharge time $D$. We represent the areas to be monitored as the vertices of a…
In this paper we present distributed and adaptive algorithms for motion coordination of a group of m autonomous vehicles. The vehicles operate in a convex environment with bounded velocity and must service demands whose time of arrival,…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e.g., task $A$ and task $B$ must both be completed before task $C$ may begin).…
Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical geometry severely suffer from the intractable runtime. To…
The problem of optimizing a sequence of tasks for a robot, also known as multi-point manufacturing, is a well-studied problem. Many of these solutions use a variant of the Traveling Salesman Problem (TSP) and seek to find the minimum…
We prove the existence of an algorithm $A$ for computing 2-d or 3-d convex hulls that is optimal for every point set in the following sense: for every sequence $\sigma$ of $n$ points and for every algorithm $A'$ in a certain class…
Intelligent robots provide a new insight into efficiency improvement in industrial and service scenarios to replace human labor. However, these scenarios include dense and dynamic obstacles that make motion planning of robots challenging.…
We consider the problem of computing shortest paths in a dense motion-planning roadmap $\mathcal{G}$. We assume that~$n$, the number of vertices of $\mathcal{G}$, is very large. Thus, using any path-planning algorithm that directly searches…
This paper investigates the problem of informative path planning for a mobile robotic sensor network in spatially temporally distributed mapping. The robots are able to gather noisy measurements from an area of interest during their…
Signed Distance Fields (SDFs) are a fundamental representation in robot motion planning. Their configuration-space counterpart, the Configuration Space Distance Field (CDF), directly encodes distances in joint space, offering a unified…
When considering motion planning for a swarm of $n$ labeled robots, we need to rearrange a given start configuration into a desired target configuration via a sequence of parallel, collision-free robot motions. The objective is to reach the…
The present paper considers multipartite graphs from the perspective of design theory and coding theory. A one-factor $F$ of the complete multipartite graph $K_{n\times g}$ (with $n$ parts of size $g$) gives rise to a $(g+1)$-ary code…
Due to its optimality on a single machine for the problem of minimizing average flow time, Shortest-Remaining-Processing-Time (\srpt) appears to be the most natural algorithm to consider for the problem of minimizing average flow time on…
In human-robot collaboration, there has been a trade-off relationship between the speed of collaborative robots and the safety of human workers. In our previous paper, we introduced a time-optimal path tracking algorithm designed to…
The maximum common subtree isomorphism problem asks for the largest possible isomorphism between subtrees of two given input trees. This problem is a natural restriction of the maximum common subgraph problem, which is ${\sf NP}$-hard in…
With few exceptions (namely, algorithms for maximal matching, $2$-approximate vertex cover, and certain constant-stretch spanners), all known fully dynamic algorithms in general graphs require (amortized) $\Omega(\log n)$ update/query time.…
ADAGB2, a generalization of the Adagrad algorithm for stochastic optimization is introduced, which is also applicable to bound-constrained problems and capable of using second-order information when available. It is shown that, given…
The speed-robust scheduling problem is a two-stage problem where given $m$ machines, jobs must be grouped into at most $m$ bags while the processing speeds of the given $m$ machines are unknown. After the speeds are revealed, the grouped…
In the classical interval scheduling type of problems, a set of $n$ jobs, characterized by their start and end time, need to be executed by a set of machines, under various constraints. In this paper we study a new variant in which the jobs…