Related papers: The Parameterized Complexity of Motion Planning fo…
We consider the \textsc{Steiner Orientation} problem, where we are given as input a mixed graph $G=(V,E,A)$ and a set of $k$ demand pairs $(s_i,t_i)$, $i\in[k]$. The goal is to orient the undirected edges of $G$ in a way that the resulting…
We study the parameterized complexity of separating a small set of vertices from a graph by a small vertex-separator. That is, given a graph $G$ and integers $k$, $t$, the task is to find a vertex set $X$ with $|X| \le k$ and $|N(X)| \le…
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…
Micro- and nanorobots are often controlled by global input signals, such as an electromagnetic or gravitational field. These fields move each robot maximally until it hits a stationary obstacle or another stationary robot. This paper…
This paper addresses the Kidnapped Robot Problem (KRP), a core localization challenge of relocalizing a robot in a known map without prior pose estimate upon localization loss or at SLAM initialization. For this purpose, a passive 2-D…
We introduce the TemporallyEdgeDisjointScheduleCompletion (TEDSC) problem in which we need to cover a set of temporal edge demands $D$ by routing $k$ temporal walks through a directed static graph while remaining temporally edge disjoint.…
Robotic pick and place tasks are symmetric under translations and rotations of both the object to be picked and the desired place pose. For example, if the pick object is rotated or translated, then the optimal pick action should also…
Given a graph and two vertex sets satisfying a certain feasibility condition, a reconfiguration problem asks whether we can reach one vertex set from the other by repeating prescribed modification steps while maintaining feasibility. In…
Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The…
Exploring and navigating in extreme environments, such as caves, oceans, and planetary bodies, are often too hazardous for humans, and as such, robots are possible surrogates. These robots are met with significant locomotion challenges that…
In this paper, we study the {\sc Dominating Set} problem in random graphs. In a random graph, each pair of vertices are joined by an edge with a probability of $p$, where $p$ is a positive constant less than $1$. We show that, given a…
Motion planning is a fundamental problem of robotics with applications in many areas of computer science and beyond. Its restriction to graphs has been investigated in the literature for it allows to concentrate on the combinatorial problem…
This work aims to develop a resource-efficient solution for obstacle-avoiding tracking control of a planar snake robot in a densely cluttered environment with obstacles. Particularly, Neuro-Evolution of Augmenting Topologies (NEAT) has been…
We study the NP-complete Minimum Shared Edges (MSE) problem. Given an undirected graph, a source and a sink vertex, and two integers p and k, the question is whether there are p paths in the graph connecting the source with the sink and…
In this paper we study the following multi-robot coordination problem: given a graph, where each edge is weighted by the probability of surviving while traversing it, find a set of paths for $K$ robots that maximizes the expected number of…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
The Set Packing problem is, given a collection of sets $\mathcal{S}$ over a ground set $\mathcal{U}$, to find a maximum collection of sets that are pairwise disjoint. The problem is among the most fundamental NP-hard optimization problems…
This paper represents an adaptive rhythmic control for a snake-like robot with 25 degrees of freedom. The adaptive gait control is implemented in algorithmic way in simulation and on a real robot. We investigated behavioral and energetic…
A dominating set of a graph $G=(V,E)$ is a set of vertices $D \subseteq V$ whose closed neighborhood is $V$, i.e., $N[D]=V$. We view a dominating set as a collection of tokens placed on the vertices of $D$. In the token sliding variant of…
We consider the problem of finding patrol schedules for $k$ robots to visit a given set of $n$ sites in a metric space. Each robot has the same maximum speed and the goal is to minimize the weighted maximum latency of any site, where the…