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Robust Markov decision processes (RMDPs) extend standard Markov decision processes (MDPs) to account for uncertainty in the transition probabilities. RMDPs have an uncertainty set that defines a set of possible transition functions, each of…
The Vehicle Routing Problem with pickups, deliveries and spatiotemporal service constraints ($VRPPDSTC$) is a quite challenging algorithmic problem that can be dealt with in either an offline or an online fashion. In this work, we focus on…
Optimal path parameterization (OPP) is a fundamental problem for planning trajectories along a prescribed geometric path under kinodynamic constraints and task-dependent objectives. While TOPP minimizes traversal time, its saturating states…
Computing a (short) path between two vertices is one of the most fundamental primitives in graph algorithmics. In recent years, the study of paths in temporal graphs, that is, graphs where the vertex set is fixed but the edge set changes…
Task and motion planning under Signal Temporal Logic constraints is known to be NP-hard. A common class of approaches formulates these hybrid problems, which involve discrete task scheduling and continuous motion planning, as mixed-integer…
We study variants of the mean problem under the $p$-Dynamic Time Warping ($p$-DTW) distance, a popular and robust distance measure for sequential data. In our setting we are given a set of finite point sequences over an arbitrary metric…
Triangle counting is a fundamental technique in network analysis, that has received much attention in various input models. The vast majority of triangle counting algorithms are targeted to static graphs. Yet, many real-world graphs are…
In the Hedge Cut problem, the edges of a graph are partitioned into groups called hedges, and the question is what is the minimum number of hedges to delete to disconnect the graph. Ghaffari, Karger, and Panigrahi [SODA 2017] showed that…
Much combinatorial optimisation problems constitute a non-polynomial (NP) hard optimisation problem, i.e., they can not be solved in polynomial time. One such problem is finding the shortest route between two nodes on a graph.…
Determinantal point processes (DPPs) have attracted substantial attention as an elegant probabilistic model that captures the balance between quality and diversity within sets. DPPs are conventionally parameterized by a positive…
This paper introduces a differential dynamic programming (DDP) based framework for polynomial trajectory generation for differentially flat systems. In particular, instead of using a linear equation with increasing size to represent…
Determinantal Point Processes (DPPs) are a family of probabilistic models that have a repulsive behavior, and lend themselves naturally to many tasks in machine learning where returning a diverse set of objects is important. While there are…
The $k$ disjoint shortest paths problem ($k$-DSPP) on a graph with $k$ source-sink pairs $(s_i, t_i)$ asks for the existence of $k$ pairwise edge- or vertex-disjoint shortest $s_i$-$t_i$-paths. It is known to be NP-complete if $k$ is part…
In this paper we consider discrete time stochastic optimal control problems over infinite and finite time horizons. We show that for a large class of such problems the Taylor polynomials of the solutions to the associated Dynamic…
In this paper, we introduce proximal gradient temporal difference learning, which provides a principled way of designing and analyzing true stochastic gradient temporal difference learning algorithms. We show how gradient TD (GTD)…
In this paper, we study a dynamic analogue of the Path Cover problem, which can be solved in polynomial-time in directed acyclic graphs. A temporal digraph has an arc set that changes over discrete time-steps, if the underlying digraph (the…
Determinantal Point Processes (DPPs) are probabilistic models over all subsets a ground set of $N$ items. They have recently gained prominence in several applications that rely on "diverse" subsets. However, their applicability to large…
This paper proposes a redundancy resolution algorithm for a redundant manipulator based on dynamic programming. This algorithm can compute the desired joint angles at each point on a pre-planned discrete path in Cartesian space, while…
With the increase of available time series data, predicting their class labels has been one of the most important challenges in a wide range of disciplines. Recent studies on time series classification show that convolutional neural…
In this paper, we study the complexity of the periodic temporal graph realization problem with respect to upper bounds on the fastest path durations among its vertices. This constraint with respect to upper bounds appears naturally in…