Related papers: The Parameterized Complexity of Motion Planning fo…
The ability to navigate like a human towards a language-guided target from anywhere in a 3D embodied environment is one of the 'holy grail' goals of intelligent robots. Most visual navigation benchmarks, however, focus on navigating toward…
In this work, the control of snake robot locomotion via economic model predictive control (MPC) is studied. Only very few examples of applications of MPC to snake robots exist and rigorous proofs for recursive feasibility and convergence…
We consider the well-studied problem of finding a spanning tree with minimum average distance between vertex pairs (called a MAD tree). This is a classic network design problem which is known to be NP-hard. While approximation algorithms…
Generating time-optimal, collision-free trajectories for autonomous mobile robots involves a fundamental trade-off between guaranteeing safety and managing computational complexity. State-of-the-art approaches formulate spline-based motion…
Motion planning is an essential aspect of autonomous systems and robotics and is an active area of research. A recently-proposed sampling-based motion planning algorithm, termed 'Generalized Shape Expansion' (GSE), has been shown to possess…
Coordinating agents through hazardous environments, such as aid-delivering drones navigating conflict zones or field robots traversing deployment areas filled with obstacles, poses fundamental planning challenges. We introduce and analyze…
Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…
We study the parameterized complexity of several positional games. Our main result is that Short Generalized Hex is W[1]-complete parameterized by the number of moves. This solves an open problem from Downey and Fellows' influential list of…
The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
We study an elementary problem of the topological robotics: collective motion of a set of $n$ distinct particles which one has to move from an initial configuration to a final configuration, with the requirement that no collisions occur in…
The study of parameterized streaming complexity on graph problems was initiated by Fafianie et al. (MFCS'14) and Chitnis et al. (SODA'15 and SODA'16). Simply put, the main goal is to design streaming algorithms for parameterized problems…
In the $k$-Center problem, we are given a graph $G=(V,E)$ with positive edge weights and an integer $k$ and the goal is to select $k$ center vertices $C \subseteq V$ such that the maximum distance from any vertex to the closest center…
In this paper, we address the shape formation problem for massive robot swarms in environments where external localization systems are unavailable. Achieving this task effectively with solely onboard measurements is still scarcely explored…
We study the NP-hard Minimum Shared Edges (MSE) problem on graphs: decide whether it is possible to route $p$ paths from a start vertex to a target vertex in a given graph while using at most $k$ edges more than once. We show that MSE can…
We focus on the task of object manipulation to an arbitrary goal pose, in which a robot is supposed to pick an assigned object to place at the goal position with a specific orientation. However, limited by the execution space of the…
We study the well-established problem of finding an optimal routing of unsplittable flows in a graph. While by now there is an extensive body of work targeting the problem on graph classes such as paths and trees, we aim at using the…
In this work, we initiate a thorough study of parameterized graph optimization problems in the distributed setting. In a parameterized problem, an algorithm decides whether a solution of size bounded by a \emph{parameter} $k$ exists and if…
Cycle packing is a fundamental problem in optimization, graph theory, and algorithms. Motivated by recent advancements in finding vertex-disjoint paths between a specified set of vertices that either minimize the total length of the paths…
Snake is a classic computer game, which has been around for decades. Based on this game, we study the game of Snake on arbitrary undirected graphs. A snake forms a simple path that has to move to an apple while avoiding colliding with…