Related papers: The Parameterized Complexity of Motion Planning fo…
Our work is motivated by the challenges presented in preparing arrays of atoms for use in quantum simulation. The recently-developed process of loading atoms into traps results in approximately half of the traps being filled. To consolidate…
Combining the techniques of approximation algorithms and parameterized complexity has long been considered a promising research area, but relatively few results are currently known. In this paper we study the parameterized approximability…
Here we study the NP-complete $K$-SAT problem. Although the worst-case complexity of NP-complete problems is conjectured to be exponential, there exist parametrized random ensembles of problems where solutions can typically be found in…
The study of domination in graphs has led to a variety of domination problems studied in the literature. Most of these follow the following general framework: Given a graph $G$ and an integer $k$, decide if there is a set $S$ of $k$…
Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
The Gathering problem for a swarm of robots asks for a distributed algorithm that brings such entities to a common place, not known in advance. We consider the well-known OBLOT model with robots constrained to move along the edges of a…
We investigate the complexity of several fundamental polynomial-time solvable problems on graphs and on matrices, when the given instance has low treewidth; in the case of matrices, we consider the treewidth of the graph formed by non-zero…
We study the problem Symmetric Directed Multicut from a parameterized complexity perspective. In this problem, the input is a digraph $D$, a set of cut requests $C=\{(s_1,t_1),\ldots,(s_\ell,t_\ell)\}$ and an integer $k$, and the task is to…
Many problems are NP-hard and, unless P = NP, do not admit polynomial-time exact algorithms. The fastest known exact algorithms exactly usually take time exponential in the input size. Much research effort has gone into obtaining faster…
We extend the motion-planning-through-gadgets framework to several new scenarios involving various numbers of robots/agents, and analyze the complexity of the resulting motion-planning problems. While past work considers just one robot or…
In this paper, we consider the problem of planning a path for a robot to monitor a known set of features of interest in an environment. We represent the environment as a graph with vertex weights and edge lengths. The vertices represent…
The Directed Traveling Salesman Problem (DTSP) is a variant of the classical Traveling Salesman Problem in which the edges in the graph are directed and a vertex and edge can be visited multiple times. The goal is to find a directed closed…
Autonomous mobile robots must maintain safety, but should not sacrifice performance, leading to the classical reach-avoid problem: find a trajectory that is guaranteed to reach a goal and avoid obstacles. This paper addresses the near…
In the Colored Clustering problem, one is asked to cluster edge-colored (hyper-)graphs whose colors represent interaction types. More specifically, the goal is to select as many edges as possible without choosing two edges that share an…
We consider path planning for a rigid spatial robot with 6 degrees of freedom (6 DOFs), moving amidst polyhedral obstacles. A correct, complete and practical path planner for such a robot has never been achieved, although this is widely…
In this paper, we present fixed-parameter tractability algorithms for both the undirected and directed versions of the Spanning Tree Isomorphism Problem, parameterized by the size $k$ of a redundant set. A redundant set is a collection of…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In this first one we present the…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
The parameterized analysis of graph modification problems represents the most extensively studied area within Parameterized Complexity. Given a graph $G$ and an integer $k\in\mathbb{N}$ as input, the goal is to determine whether we can…