Related papers: Trajectory Range Visibility
The visibility of targets determines performance and even success rate of various applications, such as active slam, exploration, and target tracking. Therefore, it is crucial to take the visibility of targets into explicit account in…
Given a geometric domain $P$, visibility-based search problems seek routes for one or more mobile agents ("watchmen") to move within $P$ in order to be able to see a portion (or all) of $P$, while optimizing objectives, such as the…
Temporal graphs represent interactions between entities over the time. These interactions may be direct (a contact between two nodes at some time instant), or indirect, through sequences of contacts called temporal paths (journeys).…
We study the classical evaluation problem for regular path queries: Given an edge-labeled graph and a regular path query, compute the set of pairs of vertices that are connected by paths that match the query. The Product Graph (PG) is the…
To plan a safe and efficient route, an autonomous vehicle should anticipate future trajectories of other agents around it. Trajectory prediction is an extremely challenging task which recently gained a lot of attention in the autonomous…
Given an undirected, weighted graph, with $n$ vertices and $m$ edges, and two special vertices $s$ and $t$, the problem is to find the shortest path between them. We give two bounded-error quantum algorithms with improved runtime in the…
Trajectory planning is a fundamental problem in robotics. It facilitates a wide range of applications in navigation and motion planning, control, and multi-agent coordination. Trajectory planning is a difficult problem due to its…
Visibility graph reconstruction, which asks us to construct a polygon that has a given visibility graph, is a fundamental problem with unknown complexity (although visibility graph recognition is known to be in PSPACE). We show that two…
Reconstructing the states of the nodes of a dynamical network is a problem of fundamental importance in the study of neuronal and genetic networks. An underlying related problem is that of observability, i.e., identifying the conditions…
Consider a finite set of identical computational entities that can move freely in the Euclidean plane operating in Look-Compute-Move cycles. Let p(t) denote the location of entity p at time t; entity p can see entity q at time t if at that…
Visibility algorithms are a family of methods to map time series into networks, with the aim of describing the structure of time series and their underlying dynamical properties in graph-theoretical terms. Here we explore some properties of…
The problem of finding a path between two points while avoiding obstacles is critical in robotic path planning. We focus on the feasibility problem: determining whether such a path exists. We model the robot as a query-specific rectangular…
Isocontours in road networks represent the area that is reachable from a source within a given resource limit. We study the problem of computing accurate isocontours in realistic, large-scale networks. We propose polygons with minimum…
We consider the problem of routing a data packet through the visibility graph of a polygonal domain $P$ with $n$ vertices and $h$ holes. We may preprocess $P$ to obtain a label and a routing table for each vertex of $P$. Then, we must be…
The classical multi-agent rendezvous problem asks for a deterministic algorithm by which $n$ points scattered in a plane can move about at constant speed and merge at a single point, assuming each point can use only the locations of the…
In this paper, we study a new data mining problem of obstacle detection from trajectory data. Intuitively, given two kinds of trajectories, i.e., reference and query trajectories, the obstacle is a region such that most query trajectories…
Traditional orthogonal range problems allow queries over a static set of points, each with some value. Dynamic variants allow points to be added or removed, one at a time. To support more powerful updates, we introduce the Grid Range class…
Ideally, robots should move in ways that maximize the knowledge gained about the state of both their internal system and the external operating environment. Trajectory design is a challenging problem that has been investigated from a…
An ortho-polygon visibility representation of an $n$-vertex embedded graph $G$ (OPVR of $G$) is an embedding-preserving drawing of $G$ that maps every vertex to a distinct orthogonal polygon and each edge to a vertical or horizontal…
The subject of this work is the patrolling of an environment with the aid of a team of autonomous agents. We consider both the design of open-loop trajectories with optimal properties, and of distributed control laws converging to optimal…