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Constant-factor, polynomial-time approximation algorithms are presented for two variations of the traveling salesman problem with time windows. In the first variation, the traveling repairman problem, the goal is to find a tour that visits…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
After reducing the undirected Hamiltonian cycle problem into the TSP problem with cost 0 or 1, we developed an effective algorithm to compute the optimal tour of the transformed TSP. Our algorithm is described as a growth process:…
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…
Autonomous ride-hailing platforms must strategically position idle robotaxis to minimize the wait times of prospective riders. We formalize this as the \emph{robotaxi placement problem} ($k$-RP). Given a finite metric space and a demand…
This paper considers trajectory planning for a mobile robot which persistently relays data between pairs of far-away communication nodes. Data accumulates stochastically at each source, and the robot must move to appropriate positions to…
This paper considers the k-sink location problem in dynamic path networks. In our model, a dynamic path network consists of an undirected path with positive edge lengths, uniform edge capacity, and positive vertex supplies. Here, each…
The difference between the speed of the actions of different processes is typically considered as an obstacle that makes the achievement of cooperative goals more difficult. In this work, we aim to highlight potential benefits of such…
Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…
Motion planning with simple objectives, such as collision-avoidance and goal-reaching, can be solved efficiently using modern planners. However, the complexity of the allowed tasks for these planners is limited. On the other hand, signal…
We consider the online traveling salesman problem on the real line (OLTSPL) in which a salesman begins at the origin, traveling at no faster than unit speed along the real line, and wants to serve a sequence of requests, arriving online…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
This paper proposes a hybrid genetic algorithm for solving the Multiple Traveling Salesman Problem (mTSP) to minimize the length of the longest tour. The genetic algorithm utilizes a TSP sequence as the representation of each individual,…
In this paper, we prove that, given a clique-width $k$-expression of an $n$-vertex graph, \textsc{Hamiltonian Cycle} can be solved in time $n^{\mathcal{O}(k)}$. This improves the naive algorithm that runs in time $n^{\mathcal{O}(k^2)}$ by…
The Quadratic Travelling Salesman Problem (QTSP) is to find a least-cost Hamiltonian cycle in an edge-weighted graph, where costs are defined on all pairs of edges such that each edge in the pair is contained in the Hamiltonian cycle. This…
This paper introduces a new learning-based approach for approximately solving the Travelling Salesman Problem on 2D Euclidean graphs. We use deep Graph Convolutional Networks to build efficient TSP graph representations and output tours in…
In this paper we present the first deterministic polynomial time algorithm for determining the existence of a Hamiltonian cycle and finding a Hamiltonian cycle in general graphs. Our algorithm can also solve the Hamiltonian path problem in…
The $k$-Opt heuristic is a simple improvement heuristic for the Traveling Salesman Problem. It starts with an arbitrary tour and then repeatedly replaces $k$ edges of the tour by $k$ other edges, as long as this yields a shorter tour. We…
We consider the problem of scattering $n$ robots in a two dimensional continuous space. As this problem is impossible to solve in a deterministic manner, all solutions must be probabilistic. We investigate the amount of randomness (that is,…
The Multiple Travelling Salesman Problem (MTSP) is among the most interesting combinatorial optimization problems because it is widely adopted in real-life applications, including robotics, transportation, networking, etc. Although the…