Related papers: Makespan Trade-offs for Visiting Triangle Edges
We consider the a priori traveling repairman problem, which is a stochastic version of the classic traveling repairman problem (also called the traveling deliveryman or minimum latency problem). Given a metric $(V,d)$ with a root $r\in V$,…
We introduce a risk-aware multi-objective Traveling Salesperson Problem (TSP) variant, where the robot tour cost and tour reward have to be optimized simultaneously. The robot obtains reward along the edges in the graph. We study the case…
The graph exploration problem requires a group of mobile robots, initially placed arbitrarily on the nodes of a graph, to work collaboratively to explore the graph such that each node is eventually visited by at least one robot. One…
Consider oriented graph nodes requiring periodic visits by a service agent. The agent moves among the nodes and receives a payoff for each completed service task, depending on the time elapsed since the previous visit to a node. We consider…
In this paper, we study the Multi-Start Team Orienteering Problem (MSTOP), a mission re-planning problem where vehicles are initially located away from the depot and have different amounts of fuel. We consider/assume the goal of multiple…
Autonomous navigation requires robots to generate trajectories for collision avoidance efficiently. Although plenty of previous works have proven successful in generating smooth and spatially collision-free trajectories, their solutions…
Rapidly Exploring Random Tree (RRT) algorithms, notably used for nonholonomic vehicle navigation in complex environments, are often not thoroughly evaluated for their specific challenges. This paper presents a first such comparison study of…
A mobile robot represented by a point moving in the plane has to explore an unknown terrain with obstacles. Both the terrain and the obstacles are modeled as arbitrary polygons. We consider two scenarios: the unlimited vision, when the…
In a classical scheduling problem, we are given a set of $n$ jobs of unit length along with precedence constraints and the goal is to find a schedule of these jobs on $m$ identical machines that minimizes the makespan. This problem is…
Let $G = (V, E)$ be an $m_1 \times \ldots \times m_k$ grid. Assuming that each $v \in V$ is occupied by a robot and a robot may move to a neighboring vertex in a step via synchronized rotations along cycles of $G$, we first establish that…
We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…
This paper addresses sampling-based trajectory optimization for risk-aware navigation under stochastic dynamics. Typically such approaches operate by computing $\tilde{N}$ perturbed rollouts around the nominal dynamics to estimate the…
Multi-task learning has gained popularity due to the advantages it provides with respect to resource usage and performance. Nonetheless, the joint optimization of parameters with respect to multiple tasks remains an active research topic.…
Consider the scenario where multiple agents have to move in an optimal way through a network, each one towards their ending position while avoiding collisions. By optimal, we mean as fast as possible, which is evaluated by a measure known…
We consider the problem of automatic generation of control strategies for robotic vehicles given a set of high-level mission specifications, such as "Vehicle x must eventually visit a target region and then return to a base," "Regions A and…
We consider the Multi-Robot Task Allocation (MRTA) problem that aims to optimize an assignment of multiple robots to multiple tasks in challenging environments which are with densely populated obstacles and narrow passages. In such…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
The random greedy algorithm for constructing a large partial Steiner-Triple-System is defined as follows. Begin with a complete graph on $n$ vertices and proceed to remove the edges of triangles one at a time, where each triangle removed is…
In the Euclidean TSP with neighborhoods (TSPN), we are given a collection of $n$ regions (neighborhoods) and we seek a shortest tour that visits each region. In the path variant, we seek a shortest path that visits each region. We present…
In the \textsc{Waypoint Routing Problem} one is given an undirected capacitated and weighted graph $G$, a source-destination pair $s,t\in V(G)$ and a set $W\subseteq V(G)$, of \emph{waypoints}. The task is to find a walk which starts at the…