Related papers: Complexity of Planning

We study an extensive class of movement minimization problems which arise from many practical scenarios but so far have little theoretical study. In general, these problems involve planning the coordinated motion of a collection of agents…

In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated…

Ontologies are known for their ability to organize rich metadata, support the identification of novel insights via semantic queries, and promote reuse. In this paper, we consider the problem of automated planning, where the objective is to…

We propose a planning and control approach to physics-based manipulation. The key feature of the algorithm is that it can adapt to the accuracy requirements of a task, by slowing down and generating `careful' motion when the task requires…

As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…

Estimating collision probabilities between robots and environmental obstacles or other moving agents is crucial to ensure safety during path planning. This is an important building block of modern planning algorithms in many application…

Width-based algorithms search for solutions through a general definition of state novelty. These algorithms have been shown to result in state-of-the-art performance in classical planning, and have been successfully applied to model-based…

In this paper, we propose a path re-planning algorithm that makes robots able to work in scenarios with moving obstacles. The algorithm switches between a set of pre-computed paths to avoid collisions with moving obstacles. It also improves…

In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover,…

Complex Systems were identified and studied in different fields, such as physics, biology, and economics. These systems exhibit exciting properties such as self-organization, robust order, and emergence. In recent years, software systems…

We give a basic overview of computational complexity, query complexity, and communication complexity, with quantum information incorporated into each of these scenarios. The aim is to provide simple but clear definitions, and to highlight…

Until now, Computer Scientists have concerned themselves with identifying efficient algorithms for solving the general case of some problem -- that is finding one which performs well when the size of the input tends to infinity. In this…

Network or graph structures are ubiquitous in the study of complex systems. Often, we are interested in complexity trends of these system as it evolves under some dynamic. An example might be looking at the complexity of a food web as…

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…

This paper will contribute to a practical problem, Urban Traffic. We will investigate those features, try to simplify the complexity and formulize this dynamic system. These contents mainly contain how to analyze a decision problem with…

For any quantum algorithm given by a path in the space of unitary operators we define the computational complexity as the typical computational time associated with the path. This time is defined using a quantum time estimator associated…

In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…

Using the notion of contiguity of simplicial maps, we adapt Farber's topological complexity to the realm of simplicial complexes. We show that, for a finite simplicial complex $K$, our discretized concept recovers the topological complexity…

Many methods have been developed for planning the motion of robotic arms for picking and placing, ranging from local optimization to global search techniques, which are effective for sparsely placed objects. Dense clutter, however, still…

The most important factors which contribute to the efficiency of game-theoretical algorithms are time and game complexity. In this study, we have offered an elegant method to deal with high complexity of game theoretic multi-objective…