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The Restricted Shortest Path (RSP) problem, also known as the Delay-Constrained Least-Cost (DCLC) problem, is an NP-hard bicriteria optimization problem on graphs with $n$ vertices and $m$ edges. In a graph where each edge is assigned a…
For more than twenty years, Ray Tracing methods have continued to improve on both accuracy and computational time aspects. However, most state-of-the-art image-based ray tracers still rely on a description of the environment that only…
Extending Bayesian optimization to batch evaluation can enable the designer to make the most use of parallel computing technology. However, most of current batch approaches do not scale well with the batch size. That is, their performances…
We consider optimization problems on manifolds with equality and inequality constraints. A large body of work treats constrained optimization in Euclidean spaces. In this work, we consider extensions of existing algorithms from the…
Pathfinding in Euclidean space is a common problem faced in robotics and computer games. For long-distance navigation on the surface of the earth or in outer space however, approximating the geometry as Euclidean can be insufficient for…
A framework is introduced for planning unmanned aerial vehicle flight paths for visual surveillance of ground targets, each having particular viewing requirements. Specifically, each target is associated with a set of imaging parameters,…
The need for efficient monitoring of spatio-temporal dynamics in large environmental applications, such as the water quality monitoring in rivers and lakes, motivates the use of robotic sensors in order to achieve sufficient spatial…
We present a new preprocessing algorithm for embedding the nodes of a given edge-weighted undirected graph into a Euclidean space. The Euclidean distance between any two nodes in this space approximates the length of the shortest path…
The Elementary Shortest-Path Problem(ESPP) seeks a minimum cost path from s to t that visits each vertex at most once. The presence of negative-cost cycles renders the problem NP-hard. We present a probabilistic method for finding…
Graph-based multi-view spectral clustering methods have achieved notable progress recently, yet they often fall short in either oversimplifying pairwise relationships or struggling with inefficient spectral decompositions in…
Sequential Convex Programming (SCP) has recently gained popularity as a tool for trajectory optimization due to its sound theoretical properties and practical performance. Yet, most SCP-based methods for trajectory optimization are…
In this work we propose a coverage planning control approach which allows a mobile agent, equipped with a controllable sensor (i.e., a camera) with limited sensing domain (i.e., finite sensing range and angle of view), to cover the surface…
In this article, we consider the Euclidean dispersion problems. Let $P=\{p_{1}, p_{2}, \ldots, p_{n}\}$ be a set of $n$ points in $\mathbb{R}^2$. For each point $p \in P$ and $S \subseteq P$, we define $cost_{\gamma}(p,S)$ as the sum of…
The DBSCAN method for spatial clustering has received significant attention due to its applicability in a variety of data analysis tasks. There are fast sequential algorithms for DBSCAN in Euclidean space that take $O(n\log n)$ work for two…
What is the effectiveness of local search algorithms for geometric problems in the plane? We prove that local search with neighborhoods of magnitude $1/\epsilon^c$ is an approximation scheme for the following problems in the Euclidian…
Electronic Phased-Array Radars offer new possibilities for Optimization of Radar Search Pattern by using bi-dimensional beam forming and beam steering, along both elevation and azimuth axes. The minimization of the Time-Budget required for…
In this paper, we present a new algorithm that extends RRT* and RT-RRT* for online path planning in complex, dynamic environments. Sampling-based approaches often perform poorly in environments with narrow passages, a feature common to many…
We provide a comprehensive study of a natural geometric optimization problem motivated by questions in the context of satellite communication and astrophysics. In the problem Minimum Scan Cover with Angular Costs (MSC), we are given a graph…
Given a set of pairwise disjoint polygonal obstacles in the plane, finding an obstacle-avoiding Euclidean shortest path between two points is a classical problem in computational geometry and has been studied extensively. Previously,…
In built infrastructure monitoring, an efficient path planning algorithm is essential for robotic inspection of large surfaces using computer vision. In this work, we first formulate the inspection path planning problem as an extended…