Related papers: The Parameterized Complexity of Motion Planning fo…
In this paper we study the problem of finding a small safe set $S$ in a graph $G$, i.e. a non-empty set of vertices such that no connected component of $G[S]$ is adjacent to a larger component in $G - S$. We enhance our understanding of the…
Given a graph $G$ with source and destination vertices $s,t\in V(G)$ respectively, \textsc{Tracking Paths} asks for a minimum set of vertices $T\subseteq V(G)$, such that the sequence of vertices encountered in each simple path from $s$ to…
We study the Steiner Tree problem on unit disk graphs. Given a $n$ vertex unit disk graph $G$, a subset $R\subseteq V(G)$ of $t$ vertices and a positive integer $k$, the objective is to decide if there exists a tree $T$ in $G$ that spans…
In parameterized complexity, it is a natural idea to consider different generalizations of classic problems. Usually, such generalization are obtained by introducing a "relaxation" variable, where the original problem corresponds to setting…
In this paper we study the Near-Gathering problem for a finite set of dimensionless, deterministic, asynchronous, anonymous, oblivious and autonomous mobile robots with limited visibility moving in the Euclidean plane in Look-Compute-Move…
We consider the online $k$-taxi problem, a generalization of the $k$-server problem, in which $k$ taxis serve a sequence of requests in a metric space. A request consists of two points $s$ and $t$, representing a passenger that wants to be…
Recent papers have shown optimally-competitive on-line strategies for a robot traveling from a point $s$ to a point $t$ in certain unknown geometric environments. We consider the question: Having gained some partial information about the…
We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…
A robotic platform for mobile manipulation needs to satisfy two contradicting requirements for many real-world applications: A compact base is required to navigate through cluttered indoor environments, while the support needs to be large…
In this paper, we study fundamental parameterized problems such as $k$-Path/Cycle, Vertex Cover, Triangle Hitting Set, Feedback Vertex Set, and Cycle Packing for dynamic unit disk graphs. Given a vertex set $V$ changing dynamically under…
The Team Orienteering Problem (TOP) generalizes many real-world multi-robot scheduling and routing tasks that occur in autonomous mobility, aerial logistics, and surveillance applications. While many flavors of the TOP exist for planning in…
Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suitable grasps is the main challenge. In this work, we are…
An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…
Given a graph, the general problem to cover the maximum number of vertices by a collection of vertex-disjoint long paths seemingly escapes from the literature. A path containing at least $k$ vertices is considered long. When $k \le 3$, the…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
Lattice-based planning techniques simplify the motion planning problem for autonomous vehicles by limiting available motions to a pre-computed set of primitives. These primitives are then combined online to generate more complex maneuvers.…
This paper investigates Path planning Among Movable Obstacles (PAMO), which seeks a minimum cost collision-free path among static obstacles from start to goal while allowing the robot to push away movable obstacles (i.e., objects) along its…
In this paper we study the fixed-parameter tractability of the problem of deciding whether a given temporal graph admits a temporal walk that visits all vertices (temporal exploration) or, in some problem variants, a certain subset of the…
Snake robots enable mobility through extreme terrains and confined environments in terrestrial and space applications. However, robust perception and localization for snake robots remain an open challenge due to the proximity of the sensor…
Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…