Related papers: The Parameterized Complexity of Motion Planning fo…
The Stacker Crane Problem (SCP) is a variant of the Traveling Salesman Problem. In SCP, pairs of pickup and delivery points are designated on a graph, and a crane must visit these points to move objects from each pickup location to its…
We consider the ideal orientation problem in planar graphs. In this problem, we are given an undirected graph $G$ with positive edge lengths and $k$ pairs of distinct vertices $(s_1, t_1), \dots, (s_k, t_k)$ called terminals, and we want to…
We study the problem of optimal multi-robot path planning on graphs (MPP) over four distinct minimization objectives: the total arrival time, the makespan (last arrival time), the total distance, and the maximum (single-robot traveled)…
Let $G$ be a planar graph and $I_s$ and $I_t$ be two independent sets in $G$, each of size $k$. We begin with a "token" on each vertex of $I_s$ and seek to move all tokens to $I_t$, by repeated "token jumping", removing a single token from…
Snakes can move through almost any terrain. Although their locomotion on flat surfaces using planar gaits is inherently stable, when snakes deform their body out of plane to traverse complex terrain, maintaining stability becomes a…
In the past decade, many parameterized algorithms were developed for packing problems. Our goal is to obtain tradeoffs that improve the running times of these algorithms at the cost of computing approximate solutions. Consider a packing…
This paper is concerned with problems relevant to motion planning in robotics. Configuration spaces are of practical relevance in designing safe control schemes for robots moving on a track. The topological complexity of a configuration…
For a family of graphs $\mathcal{G}$, the $\mathcal{G}$-\textsc{Contraction} problem takes as an input a graph $G$ and an integer $k$, and the goal is to decide if there exists $F \subseteq E(G)$ of size at most $k$ such that $G/F$ belongs…
This paper introduces a graph-based, potential-guided method for path planning problems in unknown environments, where obstacles are unknown until the robots are in close proximity to the obstacle locations. Inspired by optimal transport…
A crucial challenge arising in the design of large-scale logistical networks is to optimize parcel sortation for routing. We study this problem under the recent graph-theoretic formalization of Van Dyk, Klause, Koenemann and Megow (IPCO…
A vertex-subset graph problem Q defines which subsets of the vertices of an input graph are feasible solutions. A reconfiguration variant of a vertex-subset problem asks, given two feasible solutions S and T of size k, whether it is…
In this letter, we propose an efficient and highly versatile loco-manipulation planning for humanoid robots. Loco-manipulation planning is a key technological brick enabling humanoid robots to autonomously perform object transportation by…
We build a general theory for characterizing the computational complexity of motion planning of robot(s) through a graph of "gadgets", where each gadget has its own state defining a set of allowed traversals which in turn modify the…
We present a simple and natural extension of the multi-robot motion planning problem where the robots are partitioned into groups (colors), such that in each group the robots are interchangeable. Every robot is no longer required to move to…
Parametrized motion planning algorithms have high degrees of universality and flexibility, as they are designed to work under a variety of external conditions, which are viewed as parameters and form part of the input of the underlying…
Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved…
Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…
A graph vertex-subset problem defines which subsets of the vertices of an input graph are feasible solutions. We view a feasible solution as a set of tokens placed on the vertices of the graph. A reconfiguration variant of a vertex-subset…
We study the algorithmic problem of optimally covering a tree with $k$ mobile robots. The tree is known to all robots, and our goal is to assign a walk to each robot in such a way that the union of these walks covers the whole tree. We…
We introduce a general method for obtaining fixed-parameter algorithms for problems about finding paths in undirected graphs, where the length of the path could be unbounded in the parameter. The first application of our method is as…