Related papers: Efficient Dispersion of Mobile Robots on Graphs
The locality of a graph problem is the smallest distance $T$ such that each node can choose its own part of the solution based on its radius-$T$ neighborhood. In many settings, a graph problem can be solved efficiently with a distributed or…
The branching algorithm is a fundamental technique for designing fast exponential-time algorithms to solve combinatorial optimization problems exactly. It divides the entire solution space into independent search branches using…
In many robotics problems, there is a significant gain in collaborative information sharing between multiple robots, for exploration, search and rescue, tracking multiple targets, or mapping large environments. One of the key implicit…
We consider the standard message passing model; we assume the system is fully synchronous: all processes start at the same time and time proceeds in synchronised rounds. In each round each vertex can transmit a different message of size…
In this paper we study graph problems in dynamic streaming model, where the input is defined by a sequence of edge insertions and deletions. As many natural problems require $\Omega(n)$ space, where $n$ is the number of vertices, existing…
We present time-efficient distributed algorithms for decomposing graphs with large edge or vertex connectivity into multiple spanning or dominating trees, respectively. As their primary applications, these decompositions allow us to achieve…
We present fast and efficient randomized distributed algorithms to find Hamiltonian cycles in random graphs. In particular, we present a randomized distributed algorithm for the $G(n,p)$ random graph model, with number of nodes $n$ and…
For the problem of delivering a package from a source node to a destination node in a graph using a set of drones, we study the setting where the movements of each drone are restricted to a certain subgraph of the given graph. We consider…
This paper considers a distributed optimization problem over a multi-agent network, in which the objective function is a sum of individual cost functions at the agents. We focus on the case when communication between the agents is described…
This work studies distributed algorithms for locally optimal load-balancing: We are given a graph of maximum degree $\Delta$, and each node has up to $L$ units of load. The task is to distribute the load more evenly so that the loads of…
In this paper, we propose a distributed algorithm for the minimum dominating set problem. For some especial networks, we prove theoretically that the achieved answer by our proposed algorithm is a constant approximation factor of the exact…
This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large…
We present a framework for distributed Pose Graph Optimization (PGO) by formulating the problem as a second-order continuous-time dynamical system evolving on Lie groups. By modeling pose variables as massive particles subject to damping,…
Motivated by the increasing need to understand the distributed algorithmic foundations of large-scale graph computations, we study some fundamental graph problems in a message-passing model for distributed computing where $k \geq 2$…
In this paper we study the dynamic versions of two basic graph problems: Minimum Dominating Set and its variant Minimum Connected Dominating Set. For those two problems, we present algorithms that maintain a solution under edge insertions…
Robots with very limited capabilities are placed on the vertices of a graph and are required to move toward a single, common vertex, where they remain stationary once they arrive. This task is referred to as the GATHERING problem. Most of…
We give algorithms with running time $2^{O({\sqrt{k}\log{k}})} \cdot n^{O(1)}$ for the following problems. Given an $n$-vertex unit disk graph $G$ and an integer $k$, decide whether $G$ contains (1) a path on exactly/at least $k$ vertices,…
The problem of unsupervised learning node embeddings in graphs is one of the important directions in modern network science. In this work we propose a novel framework, which is aimed to find embeddings by \textit{discriminating…
In this paper, we address a class of specially structured problems that include speed planning, for mobile robots and robotic manipulators, and dynamic programming. We develop two new numerical procedures, that apply to the general case and…
For a set $\mathcal{D}$ of disks in the plane, its disk graph $G(\mathcal{D})$ is the graph with vertex set $\mathcal{D}$, where two vertices are adjacent if and only if the corresponding disks intersect. Given a set $\mathcal{D}$ of $n$…