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Parametrized motion planning algorithms have high degrees of universality and flexibility, as they are designed to work under a variety of external conditions, which are viewed as parameters and form part of the input of the underlying…
We present a method that finds locomanipulation plans that perform simultaneous locomotion and manipulation of objects for a desired end-effector trajectory. Key to our approach is to consider a generic locomotion constraint manifold that…
Modeling the interaction between traffic agents is a key issue in designing safe and non-conservative maneuvers in autonomous driving. This problem can be challenging when multi-modality and behavioral uncertainties are engaged. Existing…
We investigate a variation of the art gallery problem in which a team of mobile guards tries to track an unpredictable intruder in a simply-connected polygonal environment. In this work, we use the deployment strategy for diagonal guards…
One approach to confronting computational hardness is to try to understand the contribution of various parameters to the running time of algorithms and the complexity of computational tasks. Almost no computational tasks in real life are…
We consider the classic motion planning problem defined over a roadmap in which a vehicle seeks to find an optimal path from a source to a destination in presence of an attacker who can launch attacks on the vehicle over any edge of the…
This thesis presents some geometric insights into three different types of two player prediction games -- namely general learning task, prediction with expert advice, and online convex optimization. These games differ in the nature of the…
We define a new escape game in graphs that we call Nemesis. The game is played on a graph having a subset of vertices labeled as exits and the goal of one of the two players, called the fugitive, is to reach one of these exit vertices. The…
We present a strategy for designing and building very general robot manipulation systems involving the integration of a general-purpose task-and-motion planner with engineered and learned perception modules that estimate properties and…
Graph Transformers (GTs) have demonstrated a strong capability in modeling graph structures by addressing the intrinsic limitations of graph neural networks (GNNs), such as over-smoothing and over-squashing. Recent studies have proposed…
Recent years have witnessed significant advances in technologies and services in modern network applications, including smart grid management, wireless communication, cybersecurity as well as multi-agent autonomous systems. Considering the…
In this letter, we investigate the problem of dynamic spectrum access for small cell networks, using a graphical game approach. Compared with existing studies, we take the features of different cell loads and local interference relationship…
Deep Learning (DL) based methods have shown great promise in network intrusion detection by identifying malicious network traffic behavior patterns with high accuracy, but their applications to real-time, packet-level detections in…
In unlabeled multi-robot motion planning several interchangeable robots operate in a common workspace. The goal is to move the robots to a set of target positions such that each position will be occupied by some robot. In this paper, we…
In manipulation tasks, a robot interacts with movable object(s). The configuration space in manipulation planning is thus the Cartesian product of the configuration space of the robot with those of the movable objects. It is the complex…
Robust travel time predictions are of prime importance in managing any transportation infrastructure, and particularly in rail networks where they have major impacts both on traffic regulation and passenger satisfaction. We aim at…
We investigate the exploration problem of a short-sighted mobile robot moving in an unknown cellular room. To explore a cell, the robot must enter it. Once inside, the robot knows which of the 4 adjacent cells exist and which are boundary…
Game designs often center on the game mechanics---rules governing the logical evolution of the game. We seek to develop an intelligent system that generates computer games. As first steps towards this goal we present a composable and…
We consider the complexity properties of modern puzzle games, Hexiom, Cut the Rope and Back to Bed. The complexity of games plays an important role in the type of experience they provide to players. Back to Bed is shown to be PSPACE-Hard…
Compact and I/O-efficient data representations play an important role in efficient algorithm design, as memory bandwidth and latency can present a significant performance bottleneck, slowing the computation by orders of magnitude. While…