Related papers: Efficient Optimal Planning in non-FIFO Time-Depend…
We give an iterative algorithm for finding the maximum flow between a set of sources and sinks that lie on the boundary of a planar graph. Our algorithm uses only O(n) queries to simple data structures, achieving an O(n log n) running time…
With much research has been conducted into trajectory planning for quadrotors, planning with spatial and temporal optimal trajectories in real-time is still challenging. In this paper, we propose a framework for generating large-scale…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
A large number of NP-hard graph problems can be solved in $f(w)n^{O(1)}$ time and space when the input graph is provided together with a tree decomposition of width $w$, in many cases with a modest exponential dependence $f(w)$ on $w$.…
The paper represents an algorithm for planning safe and optimal routes for transport facilities with unrestricted movement direction that travel within areas with obstacles. Paper explains the algorithm using a ship as an example of such a…
Given a graph with edge costs and vertex profits and given a budget B, the Orienteering Problem asks for a walk of cost at most B of maximum profit. Additionally, each profit may be given with a time window within it can be collected by the…
Identifying shortest paths between nodes in a network is a common graph analysis problem that is important for many applications involving routing of resources. An adversary that can manipulate the graph structure could alter traffic…
Computing paths in graph structures is a fundamental operation in a wide range of applications, from transportation networks to data analysis. The beer path problem, which captures the option of visiting points of interest, such as gas…
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…
Given a graph $G$, and terminal vertices $s$ and $t$, the TRACKING PATHS problem asks to compute a minimum number of vertices to be marked as trackers, such that the sequence of trackers encountered in each s-t path is unique. TRACKING…
We study the fully dynamic All-Pairs Shortest Paths (APSP) problem in undirected edge-weighted graphs. Given an $n$-vertex graph $G$ with non-negative edge lengths, that undergoes an online sequence of edge insertions and deletions, the…
We revisit a classical graph-theoretic problem, the \textit{single-source shortest-path} (SSSP) problem, in weighted unit-disk graphs. We first propose an exact (and deterministic) algorithm which solves the problem in $O(n \log^2 n)$ time…
We propose an exact algorithm for solving the longest simple path problem between two given vertices in undirected weighted graphs. By using graph partitioning and dynamic programming, we obtain an algorithm that is significantly faster…
We present faster algorithms for approximate maximum flow in undirected graphs with good separator structures, such as bounded genus, minor free, and geometric graphs. Given such a graph with $n$ vertices, $m$ edges along with a recursive…
The disjoint paths problem is a fundamental problem in algorithmic graph theory and combinatorial optimization. For a given graph $G$ and a set of $k$ pairs of terminals in $G$, it asks for the existence of $k$ vertex-disjoint paths…
We investigate the time-complexity of the All-Pairs Max-Flow problem: Given a graph with $n$ nodes and $m$ edges, compute for all pairs of nodes the maximum-flow value between them. If Max-Flow (the version with a given source-sink pair…
The Independent Cutset problem asks whether there is a set of vertices in a given graph that is both independent and a cutset. Such a problem is $\textsf{NP}$-complete even when the input graph is planar and has maximum degree five. In this…
We formalize the problem of selecting the optimal set of options for planning as that of computing the smallest set of options so that planning converges in less than a given maximum of value-iteration passes. We first show that the problem…
In this paper, we develop a theory of new classes of discrete convex functions, called L-extendable functions and alternating L-convex functions, defined on the product of trees. We establish basic properties for optimization: a…
We study the vertex-decremental Single-Source Shortest Paths (SSSP) problem: given an undirected graph $G=(V,E)$ with lengths $\ell(e)\geq 1$ on its edges and a source vertex $s$, we need to support (approximate) shortest-path queries in…