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This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*)…
Bipartite b-matching is fundamental in algorithm design, and has been widely applied into economic markets, labor markets, etc. These practical problems usually exhibit two distinct features: large-scale and dynamic, which requires the…
We investigate the task and motion planning problem of clearing clutter from a workspace with limited ingress/egress access for multiple robots. We call the problem multi-robot clutter removal (MRCR). Targeting practical applications where…
We consider the bin packing problem with d different item sizes s_i and item multiplicities a_i, where all numbers are given in binary encoding. This problem formulation is also known as the 1-dimensional cutting stock problem. In this…
The Aho, Hopcroft and Ullman (AHU) algorithm has been the state of the art since the 1970s for determining in linear time whether two unordered rooted trees are isomorphic or not. However, it has been criticized (by Campbell and Radford)…
In this paper I present several novel, efficient, algorithmic techniques for solving some multidimensional geometric data management and analysis problems. The techniques are based on several data structures from computational geometry…
There are many classical problems in P whose time complexities have not been improved over the past decades. Recent studies of "Hardness in P" have revealed that, for several of such problems, the current fastest algorithm is the best…
The Maximum (Minimum) Leaf Spanning Tree problem asks for a spanning tree with the largest (smallest) number of leaves. As spanning trees are often computed using graph search algorithms, it is natural to restrict this problem to the set of…
We study approximation algorithms for the forest cover and bounded forest cover problems. A probabilistic $2+\epsilon$ approximation algorithm for the forest cover problem is given using the method of dual fitting. A deterministic algorithm…
In 1996, Bodlaender showed the celebrated result that an optimal tree decomposition of a graph of bounded treewidth can be found in linear time. The algorithm is based on an algorithm of Bodlaender and Kloks that computes an optimal tree…
We give an algorithm to enumerate the results on trees of monadic second-order (MSO) queries represented by nondeterministic tree automata. After linear time preprocessing (in the input tree), we can enumerate answers with linear delay (in…
We consider the vehicle routing problem with stochastic demands (VRPSD) on tree structured networks with a single depot. The problem we are concerned with in this paper is to find a set of tours for the vehicle with minimum expected length.…
{\em Reoptimization} is a setting in which we are given an (near) optimal solution of a problem instance and a local modification that slightly changes the instance. The main goal is that of finding an (near) optimal solution of the…
Boosted decision trees enjoy popularity in a variety of applications; however, for large-scale datasets, the cost of training a decision tree in each round can be prohibitively expensive. Inspired by ideas from the multi-arm bandit…
The problem of selecting small groups of itemsets that represent the data well has recently gained a lot of attention. We approach the problem by searching for the itemsets that compress the data efficiently. As a compression technique we…
An algorithm on weighted graphs is called universally optimal if it is optimal for every input graph, in the worst case taken over all weight assignments. Informally, this means the algorithm is competitive even with algorithms that are…
In the non-uniform sparsest cut problem, we are given a supply graph G and a demand graph D, both with the same set of nodes V. The goal is to find a cut of V that minimizes the ratio of the total capacity on the edges of G crossing the cut…
Object rearrangement is a widely-applicable and challenging task for robots. Geometric constraints must be carefully examined to avoid collisions and combinatorial issues arise as the number of objects increases. This work studies the…
Automated parking is a self-driving feature that has been in cars for several years. Parking assistants in currently sold cars fail to park in more complex real-world scenarios and require the driver to move the car to an expected starting…
Given a weighted, ordered query set $Q$ and a partition of $Q$ into classes, we study the problem of computing a minimum-cost decision tree that, given any query $q$ in $Q$, uses equality tests and less-than comparisons to determine the…