Related papers: Towards an efficient and exact algorithm for dynam…

In this paper, we study the privacy-preserving distributed optimization problem, aiming to prevent attackers from stealing the private information of agents. For this purpose, we propose a novel privacy-preserving algorithm based on the…

A dynamic graph algorithm is a data structure that supports edge insertions, deletions, and specific problem queries. While extensive research exists on dynamic algorithms for graph problems solvable in polynomial time, most of these…

We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…

Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…

Unmanned aerial vehicles (UAVs) are increasingly utilized in global search and rescue efforts, enhancing operational efficiency. In these missions, a coordinated swarm of UAVs is deployed to efficiently cover expansive areas by capturing…

We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…

In this paper we consider a defending problem on a network. In the model, the defender holds a total defending resource of R, which can be distributed to the nodes of the network. The defending resource allocated to a node can be shared by…

In this paper, we develop deterministic fully dynamic algorithms for computing approximate distances in a graph with worst-case update time guarantees. In particular, we obtain improved dynamic algorithms that, given an unweighted and…

In this paper, we consider the bandwidth-delay-hop constrained routing problem in large-scaled software defined networks. A number of demands, each of which specifies a source vertex and a sink vertex, are required to route in a given…

This paper presents a new online multi-agent trajectory planning algorithm that guarantees to generate safe, dynamically feasible trajectories in a cluttered environment. The proposed algorithm utilizes a linear safe corridor (LSC) to…

Safe and efficient path planning in parking scenarios presents a significant challenge due to the presence of cluttered environments filled with static and dynamic obstacles. To address this, we propose a novel and computationally efficient…

Optimizing paths on networks is crucial for many applications, from subway traffic to Internet communication. As global path optimization that takes account of all path-choices simultaneously is computationally hard, most existing routing…

Routing optimization is a relevant problem in many contexts. Solving directly this type of optimization problem is often computationally unfeasible. Recent studies suggest that one can instead turn this problem into one of solving a…

Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…

We study robust and efficient distributed algorithms for searching, storing, and maintaining data in dynamic Peer-to-Peer (P2P) networks. P2P networks are highly dynamic networks that experience heavy node churn (i.e., nodes join and leave…

We examine the dynamic network flow problem under the assumption that the flow consists of discrete units. The dynamic network flow problem is commonly addressed in the context of developing evacuation plans, where the flow is typically…

In this article, we discuss two algorithms tailored to discrete-time deterministic finite-horizon nonlinear optimal control problems or so-called deterministic trajectory optimization problems. Both algorithms can be derived from an…

We present a general framework of designing efficient dynamic approximate algorithms for optimization on undirected graphs. In particular, we develop a technique that, given any problem that admits a certain notion of vertex sparsifiers,…

We propose a new algorithm for numerical path tracking in polynomial homotopy continuation. The algorithm is `robust' in the sense that it is designed to prevent path jumping and in many cases, it can be used in (only) double precision…

In this paper, a novel knowledge-based genetic algorithm for path planning of a mobile robot in unstructured complex environments is proposed, where five problem-specific operators are developed for efficient robot path planning. The…