Related papers: Evacuating from ell_p Unit Disks in the Wireless M…
This paper addresses the visibility-based pursuit-evasion problem where a team of pursuer robots operating in a two-dimensional polygonal space seek to establish visibility of an arbitrarily fast evader. This is a computationally…
The Euclidean Shortest Path Problem (ESPP), which involves finding the shortest path in a Euclidean plane with polygonal obstacles, is a classic problem with numerous real-world applications. The current state-of-the-art solution, Euclidean…
Let $T_D$ denote the first exit time of a Brownian motion from a domain $D$ in ${\mathbb R}^n$. Given domains $U,W \subseteq {\mathbb R}^n$ containing the origin, we investigate the cases in which we are more likely to have fast exits from…
Physically disentangling entangled objects from each other is a problem encountered in waste segregation or in any task that requires disassembly of structures. Often there are no object models, and, especially with cluttered irregularly…
Environment mapping is an essential prerequisite for mobile robots to perform different tasks such as navigation and mission planning. With the availability of low-cost 2D LiDARs, there are increasing applications of such 2D LiDARs in…
We study $p$-Faulty Search, a variant of the classic cow-path optimization problem, where a unit speed robot searches the half-line (or $1$-ray) for a hidden item. The searcher is probabilistically faulty, and detection of the item with…
We study the design of efficient approximation algorithms for the $\ell$-center clustering and minimum-diameter $\ell$-clustering problems in high dimensional Euclidean and Hamming spaces. Our main tool is randomized dimension reduction.…
For a set P of n points in R^2, the Euclidean 2-center problem computes a pair of congruent disks of the minimal radius that cover P. We extend this to the (2,k)-center problem where we compute the minimal radius pair of congruent disks to…
The Euclidean distance geometry problem arises in a wide variety of applications, from determining molecular conformations in computational chemistry to localization in sensor networks. When the distance information is incomplete, the…
Sphere packing, Hilbert's eighteenth problem, asks for the densest arrangement of congruent spheres in n-dimensional Euclidean space. Although relevant to areas such as cryptography, crystallography, and medical imaging, the problem remains…
The localization problem in a wireless sensor network is to determine the coordination of sensor nodes using the known positions of some nodes (called anchors) and corresponding noisy distance measurements. There is a variety of different…
The transportation problem in the plane - how to move a set of objects from one set of points to another set of points in the cheapest way - is a very old problem going back several hundreds of years. In recent years the solution of the…
This paper addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or…
Numerical multiscale methods usually rely on some coupling between a macroscopic and a microscopic model. The macroscopic model is incomplete as effective quantities, such as the homogenized material coefficients or fluxes, are missing in…
In this paper we establish well posedness of the Neumann problem with boundary data in $L^2$ or the Sobolev space $\dot W^2_{-1}$, in the half space, for linear elliptic differential operators with coefficients that are constant in the…
Minimizing a convex risk function is the main step in many basic learning algorithms. We study protocols for convex optimization which provably leak very little about the individual data points that constitute the loss function.…
Generating time-optimal, collision-free trajectories for autonomous mobile robots involves a fundamental trade-off between guaranteeing safety and managing computational complexity. State-of-the-art approaches formulate spline-based motion…
Consider a set $P$ of $n$ points in $\mathbb{R}^d$. In the discrete median line segment problem, the objective is to find a line segment bounded by a pair of points in $P$ such that the sum of the Euclidean distances from $P$ to the line…
Let $\mathcal{P}$ be a packing of circular disks of radius $\rho>0$ in the Euclidean, spherical, or hyperbolic plane. Let $0\leq\lambda\leq\rho$. We say that $\mathcal{P}$ is a $\lambda$-separable packing of circular disks of radius $\rho$…
We address an optimal reachability problem for a planar manipulator in a constrained environment. After introducing the optmization problem in full generality, we practically embed the geometry of the workspace in the problem, by…