Related papers: Optimally Guarding Perimeters and Regions with Mob…
To enhance robotic grasping capabilities, we are developing new contactless fingertip sensors to measure distance in close proximity and simultaneously detect the type of material and the interior structure. These sensors are referred to as…
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…
This paper is concerned with the deployment of multiple mobile robots in order to autonomously cover a region Q. The region to be covered is described using a density function which may not be apriori known. In this paper, we pose the…
We investigate the Dispersive Art Gallery Problem with vertex guards and rectangular visibility ($r$-visibility) for a class of orthogonal polygons that reflect the properties of real-world floor plans: these office-like polygons consist of…
We consider the indirect covering subtree problem (Kim et al., 1996). The input is an edge weighted tree graph along with customers located at the nodes. Each customer is associated with a radius and a penalty. The goal is to locate a…
We consider two optimization problems in planar graphs. In Maximum Weight Independent Set of Objects we are given a graph $G$ and a family $\mathcal{D}$ of objects, each being a connected subgraph of $G$ with a prescribed weight, and the…
In this paper, we consider the problem of generating inspection paths for robots. These paths should allow an attached measurement device to perform high-quality measurements. We formally show that generating robot paths, while maximizing…
Maximising the detection of intrusions is a fundamental and often critical aim of perimeter surveillance. Commonly, this requires a decision-maker to optimally allocate multiple searchers to segments of the perimeter. We consider a scenario…
We present approximation algorithms for maximum independent set of pseudo-disks in the plane, both in the weighted and unweighted cases. For the unweighted case, we prove that a local search algorithm yields a \PTAS. For the weighted case,…
In this paper we study the subset sum problem with real numbers. Starting from the given problem, we formulate a quadratic maximization problem over a polytope which is eventually written as a distance maximization to a fixed point. For…
This paper introduces the \emph{$d$-distance matching problem}, in which we are given a bipartite graph $G=(S,T;E)$ with $S=\{s_1,\dots,s_n\}$, a weight function on the edges and an integer $d\in\mathbb Z_+$. The goal is to find a maximum…
Wireless sensor networks (WSNs) are emerging as an effective means for environment monitoring. This paper investigates a strategy for energy efficient monitoring in WSNs that partitions the sensors into covers, and then activates the covers…
Given a graph $G$, the NP-hard Maximum Planar Subgraph problem (MPS) asks for a planar subgraph of $G$ with the maximum number of edges. There are several heuristic, approximative, and exact algorithms to tackle the problem, but---to the…
The Wasserstein barycenter problem seeks a probability measure that minimizes the weighted average of the Wasserstein distances to a given collection of probability measures. We study the discrete setting, where each measure has finite…
In the Traveling Salesperson Problem with Neighborhoods (TSPN), we are given a collection of geometric regions in some space. The goal is to output a tour of minimum length that visits at least one point in each region. Even in the…
Continuously optimizing sensor placement is essential for precise target localization in various military and civilian applications. While information theory has shown promise in optimizing sensor placement, many studies oversimplify sensor…
In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…
This paper gives poly-logarithmic-round, distributed D-approximation algorithms for covering problems with submodular cost and monotone covering constraints (Submodular-cost Covering). The approximation ratio D is the maximum number of…
We consider a variant of the art gallery problem where all guards are limited to seeing to the right inside a monotone polygon. We call such guards: half-guards. We provide a polynomial-time approximation for point guarding the entire…
In this paper, we study the problem of coverage planning by a mobile robot with a limited energy budget. The objective of the robot is to cover every point in the environment while minimizing the traveled path length. The environment is…