Related papers: The Parameterized Complexity of Motion Planning fo…
Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…
This paper addresses the problem of planning a safe (i.e., collision-free) trajectory from an initial state to a goal region when the obstacle space is a-priori unknown and is incrementally revealed online, e.g., through line-of-sight…
We investigate the parameterized complexity of the Isometric Path Partition problem when parameterized by the treewidth ($\mathrm{tw}$) of the input graph, arguably one of the most widely studied parameters. Courcelle's theorem shows that…
In this paper we study the Spanning Tree Congestion problem, where we are given a graph $G=(V,E)$ and are asked to find a spanning tree $T$ of minimum maximum congestion. Here, the congestion of an edge $e\in T$ is the number of edges…
Finding a Steiner strongly $k$-arc-connected orientation is particularly relevant in network design and reliability, as it guarantees robust communication between a designated set of critical nodes. Kir\'aly and Lau (FOCS 2006) introduced a…
We consider a set of k autonomous robots that are endowed with visibility sensors (but that are otherwise unable to communicate) and motion actuators. Those robots must collaborate to reach a sin- gle vertex that is unknown beforehand, and…
We consider an off-line optimisation problem where $k$ robots must service $n$ requests on a single line. A request $i$ has weight $w_i$ and takes place at time $t_i$ at location $d_i$ on the line. A robot can service a request and collect…
We study the Monotone Sliding Reconfiguration (MSR) problem, in which $\textit{labeled}$ pairwise interior-disjoint objects in a planar workspace need to be brought $\textit{one by one}$ from their initial positions to given target…
Given a k-dimensional subspace M\subseteq \R^n and a full rank integer lattice L\subseteq \R^n, the \emph{subspace avoiding problem} SAP is to find a shortest vector in L\setminus M. Treating k as a parameter, we obtain new parameterized…
In the Multiple Allocation $k$-Hub Center (MA$k$HC), we are given a connected edge-weighted graph $G$, sets of clients $\mathcal{C}$ and hub locations $\mathcal{H}$, where ${V(G) = \mathcal{C} \cup \mathcal{H}}$, a set of demands…
Hitting Set is a classic problem in combinatorial optimization. Its input consists of a set system F over a finite universe U and an integer t; the question is whether there is a set of t elements that intersects every set in F. The Hitting…
A topological theory initiated recently by the author uses methods of algebraic topology to estimate numerically the character of instabilities arising in motion planning algorithms. The present paper studies random motion planning…
Mapping and localization are two essential tasks for mobile robots in real-world applications. However, largescale and dynamic scenes challenge the accuracy and robustness of most current mature solutions. This situation becomes even worse…
This paper investigates the complexity of finding secluded paths in graphs. We focus on the \textsc{Short Secluded Path} problem and a natural new variant we introduce, \textsc{Shortest Secluded Path}. Formally, given an undirected graph…
The formation trajectory planning using complete graphs to model collaborative constraints becomes computationally intractable as the number of drones increases due to the curse of dimensionality. To tackle this issue, this paper presents a…
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 Part I, we presented the mathematical…
Autonomous exploration requires a robot to explore an unknown environment while constructing an accurate map using Simultaneous Localization and Mapping (SLAM) techniques. Without prior information, the exploration performance is usually…
Subexponential parameterized algorithms are known for a wide range of natural problems on planar graphs, but the techniques are usually highly problem specific. The goal of this paper is to introduce a framework for obtaining…
One of the most fundamental problems in Computer Science is the Knapsack problem. Given a set of n items with different weights and values, it asks to pick the most valuable subset whose total weight is below a capacity threshold T. Despite…
In a large-scale network, we want to choose some influential nodes to make a profit by paying some cost within a limited budget so that we do not have to spend more budget on some nodes adjacent to the chosen nodes; our problem is the…