Related papers: Constant Factor Time Optimal Multi-Robot Routing o…
High-speed motions in pick-and-place operations are critical to making robots cost-effective in many automation scenarios, from warehouses and manufacturing to hospitals and homes. However, motions can be too fast -- such as when the object…
Location Routing is a fundamental planning problem in logistics, in which strategic location decisions on the placement of facilities (depots, distribution centers, warehouses etc.) are taken based on accurate estimates of operational…
We give an algorithm that decides whether the bipartite crossing number of a given graph is at most $k$. The running time of the algorithm is upper bounded by $2^{O(k)} + n^{O(1)}$, where $n$ is the number of vertices of the input graph,…
We present an $\tilde{O}\left(m^{\frac{10}{7}}U^{\frac{1}{7}}\right)$-time algorithm for the maximum $s$-$t$ flow problem and the minimum $s$-$t$ cut problem in directed graphs with $m$ arcs and largest integer capacity $U$. This matches…
We design a deterministic algorithm that, given $n$ points in a \emph{typical} constant degree regular~graph, queries $O(n)$ distances to output a constant factor approximation to the average distance among those points, thus answering a…
We present faster algorithms for approximate maximum flow in undirected graphs with good separator structures, such as bounded genus, minor free, and geometric graphs. Given such a graph with $n$ vertices, $m$ edges along with a recursive…
Network flow is one of the most studied combinatorial optimization problems having innumerable applications. Any flow on a directed acyclic graph $G$ having $n$ vertices and $m$ edges can be decomposed into a set of $O(m)$ paths. In some…
A prominent problem in scheduling theory is the weighted flow time problem on one machine. We are given a machine and a set of jobs, each of them characterized by a processing time, a release time, and a weight. The goal is to find a…
Autonomous robots are increasingly deployed to estimate spatiotemporal fields (e.g., wind, temperature, gas concentration) that vary across space and time. We consider environments divided into non-overlapping regions with distinct spatial…
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…
This paper addresses the autonomous robot ergodicity problem for efficient environment exploration. The spatial distribution as a reference is given by a mixture of Gaussian and the mass generation of the robot is assumed to be skinny…
We develop a fast and reliable method for solving large-scale optimal transport (OT) problems at an unprecedented combination of speed and accuracy. Built on the celebrated Douglas-Rachford splitting technique, our method tackles the…
Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is inverted to obtain a joint space path, then, the latter is…
High-fidelity street scene reconstruction is pivotal for end-to-end autonomous driving simulation, where novel-view synthesis (NVS) and time-varying information modeling are two fundamental capabilities to facilitate closed-loop training.…
We provide evidence that computing the maximum flow value between every pair of nodes in a directed graph on $n$ nodes, $m$ edges,and capacities in the range $[1..n]$, which we call the All-Pairs Max-Flow problem, cannot be solved in time…
We consider the problem of reconfiguring a two-dimensional connected grid arrangement of passive building blocks from a start configuration to a goal configuration, using a single active robot that can move on the tiles, remove individual…
For many hard computational problems, simple algorithms that run in time $2^n \cdot n^{O(1)}$ arise, say, from enumerating all subsets of a size-$n$ set. Finding (exponentially) faster algorithms is a natural goal that has driven much of…
To achieve optimal robot behavior in dynamic scenarios we need to consider complex dynamics in a predictive manner. In the vehicle dynamics community, it is well know that to achieve time-optimal driving on low surface, the vehicle should…
In this work, we present a constant-round algorithm for the $2$-ruling set problem in the Congested Clique model. As a direct consequence, we obtain a constant round algorithm in the MPC model with linear space-per-machine and optimal total…
We present a near-optimal polynomial-time approximation algorithm for the asymmetric traveling salesman problem for graphs of bounded orientable or non-orientable genus. Our algorithm achieves an approximation factor of O(f(g)) on graphs…