Related papers: Optimal Perimeter Guarding with Heterogeneous Robo…
We consider optimal route planning when the objective function is a general nonlinear and non-monotonic function. Such an objective models user behavior more accurately, for example, when a user is risk-averse, or the utility function needs…
For enabling efficient, large-scale coordination of unmanned aerial vehicles (UAVs) under the labeled setting, in this work, we develop the first polynomial time algorithm for the reconfiguration of many moving bodies in three-dimensional…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
We consider linear problems in the worst case setting. That is, given a linear operator and a pool of admissible linear measurements, we want to approximate the values of the operator uniformly on a convex and balanced set by means of…
We consider the problem of finding nearly optimal solutions of optimization problems with random objective functions. Two concrete problems we consider are (a) optimizing the Hamiltonian of a spherical or Ising $p$-spin glass model, and (b)…
This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task is formulated as a constrained polynomial optimization…
In this article, we study the complexity of the upgrading version of the maximal covering location problem with edge length modifications on networks. This problem is NP-hard on general networks. However, in some particular cases, we prove…
Many problems are NP-hard and, unless P = NP, do not admit polynomial-time exact algorithms. The fastest known exact algorithms exactly usually take time exponential in the input size. Much research effort has gone into obtaining faster…
The orbit problem is at the heart of symmetry reduction methods for model checking concurrent systems. It asks whether two given configurations in a concurrent system (represented as finite strings over some finite alphabet) are in the same…
In this paper, we consider the problem of partitioning a polygon into a set of connected disjoint sub-polygons, each of which covers an area of a specific size. The work is motivated by terrain covering applications in robotics, where the…
Humanoid robots are made to resemble humans but their locomotion abilities are far from ours in terms of agility and versatility. When humans walk on complex terrains, or face external disturbances, they combine a set of strategies,…
The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
We consider a problem called task ordering with path uncertainty (TOP-U) where multiple robots are provided with a set of task locations to visit in a bounded environment, but the length of the path between a pair of task locations is…
In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…
A recent trend in the design of FPT algorithms is exploiting the half-integrality of LP relaxations. In other words, starting with a half-integral optimal solution to an LP relaxation, we assign integral values to variables one-by-one by…
Constrained submodular set function maximization problems often appear in multi-agent decision-making problems with a discrete feasible set. A prominent example is the problem of multi-agent mobile sensor placement over a discrete domain.…
In disaster response scenarios, deploying robotic teams effectively is crucial for improving situational awareness and enhancing search and rescue operations. The use of robots in search and rescue has been studied but the question of where…
We are considering the problem of controlling a team of robotic bodyguards protecting a VIP from physical assault in the presence of neutral and/or adversarial bystanders. This task is part of a much larger class of problems involving…
Multirobot systems for covering environments are increasingly used in applications like cleaning, industrial inspection, patrolling, and precision agriculture. The problem of covering a given environment using multiple robots can be…
The introduction and study of dispersing mobile robots across the nodes of an anonymous graph have recently gained traction and have been explored within various graph classes and settings. While optimal dispersion solution was established…