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This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
Living systems operate far from equilibrium, yet few general frameworks provide global bounds on biological transients. In high-dimensional biological networks like ecosystems, long transients arise from the separate timescales of…
Place recognition, the ability to identify previously visited locations, is critical for both biological navigation and autonomous systems. This review synthesizes findings from robotic systems, animal studies, and human research to explore…
Given $n$ pairs of points, $\mathcal{S} = \{\{p_1, q_1\}, \{p_2, q_2\}, \dots, \{p_n, q_n\}\}$, in some metric space, we study the problem of two-coloring the points within each pair, red and blue, to optimize the cost of a pair of…
The matrices of spanning rooted forests are studied as a tool for analysing the structure of networks and measuring their properties. The problems of revealing the basic bicomponents, measuring vertex proximity, and ranking from preference…
Many real world problems are NP-Hard problems are a very large part of them can be represented as graph based problems. This makes graph theory a very important and prevalent field of study. In this work a new bio-inspired meta-heuristics…
This paper combines the idea of a hierarchical distributed genetic algorithm with different inter-agent partnering strategies. Cascading clusters of sub-populations are built from bottom up, with higher-level sub-populations optimising…
The design of efficient transportation networks is an important challenge in many research areas. Among the most promising recent methods, biological routing mimic local rules found in nature. However comparisons with other methods are…
Understanding the influence of an environment on the evolution of its resident population is a major challenge in evolutionary biology. Great progress has been made in homogeneous population structures while heterogeneous structures have…
Crossing minimization is one of the central problems in graph drawing. Recently, there has been an increased interest in the problem of minimizing crossings between paths in drawings of graphs. This is the metro-line crossing minimization…
This paper presents a simple and efficient approach for finding the bridges and failure points in a densely connected network mapped as a graph. The algorithm presented here is a parallel algorithm which works in a distributed environment.…
The minimum-cost arborescence problem is a well-studied problem in the area of graph theory, with known polynomial-time algorithms for solving it. Previous literature introduced new variations on the original problem with different…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
Evolving trees arise in many real-life scenarios from computer file systems and dynamic call graphs, to fake news propagation and disease spread. Most layout algorithms for static trees do not work well in an evolving setting (e.g., they…
The arc-routing problems are known to be notoriously hard. We study here a natural arc-routing problem on trees and more generally on bounded tree-width graphs and surprisingly show that it can be solved in a polynomial time. This implies a…
As robots are increasingly deployed in real-world scenarios, a key question is how to best transfer knowledge learned in one environment to another, where shifting constraints and human preferences render adaptation challenging. A central…
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,…
A localized method to distribute paths on random graphs is devised, aimed at finding the shortest paths between given source/destination pairs while avoiding path overlaps at nodes. We propose a method based on message-passing techniques to…
The optimal transport problem has recently developed into a powerful framework for various applications in estimation and control. Many of the recent advances in the theory and application of optimal transport are based on regularizing the…
In this paper we consider several problems concerning packet routing in distributed systems. Each problem is formulated using terms from Graph Theory and for each problem we present efficient, novel, algorithmic techniques for computing…