Related papers: Combinatorial Algorithms for Rooted Prize-Collecti…
We investigate the problem of efficiently computing optimal transport (OT) distances, which is equivalent to the node-capacitated minimum cost maximum flow problem in a bipartite graph. We compare runtimes in computing OT distances on data…
The Team Orienteering Problem (TOP) generalizes many real-world multi-robot scheduling and routing tasks that occur in autonomous mobility, aerial logistics, and surveillance applications. While many flavors of the TOP exist for planning in…
Given a set of clients with demands, the Capacitated Vehicle Routing problem is to find a set of tours that collectively cover all client demand, such that the capacity of each vehicle is not exceeded and such that the sum of the tour…
Combinatorial problems such as combinatorial optimization and constraint satisfaction problems arise in decision-making across various fields of science and technology. In real-world applications, when multiple optimal or…
We propose a new approach for solving combinatorial optimization problem by utilizing the mechanism of chases and escapes, which has a long history in mathematics. In addition to the well-used steepest descent and neighboring search, we…
We consider a vehicle routing problem which seeks to minimize cost subject to service level constraints on several groups of deliveries. This problem captures some essential challenges faced by a logistics provider which operates…
We initiate the study of the parameterized complexity of the {\sc Collective Graph Exploration} ({\sc CGE}) problem. In {\sc CGE}, the input consists of an undirected connected graph $G$ and a collection of $k$ robots, initially placed at…
Rapidly-exploring random tree (RRT) has been applied for autonomous parking due to quickly solving high-dimensional motion planning and easily reflecting constraints. However, planning time increases by the low probability of extending…
Autonomous Mobile Robots (AMRs) operate on battery power, making energy efficiency a critical consideration, particularly in outdoor environments where terrain variations affect energy consumption. While prior research has primarily focused…
We revisit the Maximum Node-Disjoint Paths problem, the natural optimization version of Node-Disjoint Paths, where we are given a graph $G$, $k$ pairs of vertices $(s_i, t_i)$ and an integer $\ell$, and are asked whether there exist at…
In this paper, we consider the Constant-cost Orienteering Problem (COP) where a robot, constrained by a limited travel budget, aims at selecting a path with the largest reward in an aisle-graph. The aisle-graph consists of a set of loosely…
The Random Walks (RW) algorithm is one of the most e - cient and easy-to-use probabilistic segmentation methods. By combining contrast terms with prior terms, it provides accurate segmentations of medical images in a fully automated manner.…
During the last decade, incremental sampling-based motion planning algorithms, such as the Rapidly-exploring Random Trees (RRTs) have been shown to work well in practice and to possess theoretical guarantees such as probabilistic…
This paper explores minimum sensing navigation of robots in environments cluttered with obstacles. The general objective is to find a path plan to a goal region that requires minimal sensing effort. In [1], the information-geometric RRT*…
Following [21, 23], the present work investigates a new relative entropy-regularized algorithm for solving the optimal transport on a graph problem within the randomized shortest paths formalism. More precisely, a unit flow is injected into…
This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…
We present a new approximation algorithm for the (metric) prize-collecting traveling salesperson problem (PCTSP). In PCTSP, opposed to the classical traveling salesperson problem (TSP), one may not include a vertex of the input graph in the…
During the last decade, sampling-based path planning algorithms, such as Probabilistic RoadMaps (PRM) and Rapidly-exploring Random Trees (RRT), have been shown to work well in practice and possess theoretical guarantees such as…
This paper introduces a novel compact mixed integer linear programming (MILP) formulation and a discretization discovery-based solution approach for the Vehicle Routing Problem with Time Windows (VRPTW). We aim to solve the optimization…
In this paper, we study a set of combinatorial optimization problems on weighted graphs: the shortest path problem with negative weights, the weighted perfect bipartite matching problem, the unit-capacity minimum-cost maximum flow problem…