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A common task in robotics is unloading identical goods from a tray with rectangular grid structure. This naturally leads to the idea of programming the process at one grid position only and translating the motion to the other grid points,…
Background: Simulating a process of crowd evacuation using an agent-based model requires modellers to specify values of a whole range of parameters each determining certain aspects of evacuee behaviour. While potential sensitivity of…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
The dispersion problem on graphs asks $k\leq n$ robots placed initially arbitrarily on the nodes of an $n$-node anonymous graph to reposition autonomously to reach a configuration in which each robot is on a distinct node of the graph. This…
In this paper, we develop new tools and connections for exponential time approximation. In this setting, we are given a problem instance and a parameter $\alpha>1$, and the goal is to design an $\alpha$-approximation algorithm with the…
We study the maximum $k$-set coverage problem in the following distributed setting. A collection of sets $S_1,\ldots,S_m$ over a universe $[n]$ is partitioned across $p$ machines and the goal is to find $k$ sets whose union covers the most…
In this paper we study the deployment of multiple unmanned aerial vehicles (UAVs) to form a temporal UAV network for the provisioning of emergent communications to affected people in a disaster zone, where each UAV is equipped with a…
We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…
We study the problem of optimally inspecting an underground (underwater) gallery with k agents. We consider a gallery with a single opening and with a tree topology rooted at the opening. Due to the small diameter of the pipes (caves), the…
This paper describes our recent effort to use virtual reality to simulate threatening emergency evacuation scenarios in which a robot guides a person to an exit. Our prior work has demonstrated that people will follow a robot's guidance,…
The search-type problem of evacuating 2 robots in the wireless model from the (Euclidean) unit disk was first introduced and studied by Czyzowicz et al. [DISC'2014]. Since then, the problem has seen a long list of follow-up results…
This paper works on one of the most recent pedestrian crowd evacuation models, i.e., "a simulation model for pedestrian crowd evacuation based on various AI techniques", developed in late 2019. This study adds a new feature to the developed…
This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…
A fundamental problem in shape matching and geometric similarity is computing the maximum area overlap between two polygons under translation. For general simple polygons, the best-known algorithm runs in $O((nm)^2 \log(nm))$ time [Mount,…
Robots are becoming an increasingly common part of scientific work within laboratory environments. In this paper, we investigate the problem of designing \emph{schedules} for completing a set of tasks at fixed locations with multiple robots…
We describe the first strongly subquadratic time algorithm with subexponential approximation ratio for approximately computing the Fr\'echet distance between two polygonal chains. Specifically, let $P$ and $Q$ be two polygonal chains with…
Let G be a graph that may be drawn in the plane in such a way that all internal faces are centrally symmetric convex polygons. We show how to find a drawing of this type that maximizes the angular resolution of the drawing, the minimum…
We consider the NP-hard problem of finding a spanning tree with a maximum number of internal vertices. This problem is a generalization of the famous Hamiltonian Path problem. Our dynamic-programming algorithms for general and…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…