Related papers: An Approximation Algorithm for Distance-Constraine…
Sampling-based motion planning algorithms are widely used in robotics because they are very effective in high-dimensional spaces. However, the success rate and quality of the solutions are determined by an adequate selection of their…
Robots have become increasingly prevalent in dynamic and crowded environments such as airports and shopping malls. In these scenarios, the critical challenges for robot navigation are reliability and timely arrival at predetermined…
We show that under mild assumptions for a problem whose solutions admit a dynamic programming-like recurrence relation, we can still find a solution under additional packing constraints, which need to be satisfied approximately. The number…
In this paper, we consider a large-scale instance of the classical Pickup-and-Delivery Vehicle Routing Problem (PDVRP) that must be solved by a network of mobile cooperating robots. Robots must self-coordinate and self-allocate a set of…
Route planning is important in transportation. Existing works focus on finding the shortest path solution or using metrics such as safety and energy consumption to determine the planning. It is noted that most of these studies rely on prior…
Random projection algorithm is an iterative gradient method with random projections. Such an algorithm is of interest for constrained optimization when the constraint set is not known in advance or the projection operation on the whole…
The emergence of massive graph data sets requires fast mining algorithms. Centrality measures to identify important vertices belong to the most popular analysis methods in graph mining. A measure that is gaining attention is forest…
We study the classical NP-hard problems of finding maximum-size subsets from given sets of $k$ terminal pairs that can be routed via edge-disjoint paths (MaxEDP) or node-disjoint paths (MaxNDP) in a given graph. The approximability of…
Efficiently solving a vehicle routing problem (VRP) in a practical runtime is a critical challenge for delivery management companies. This paper explores both a theoretical and experimental connection between the Capacitated Vehicle Routing…
Transportation occupies one-third of the amount in the logistics costs, and accordingly transportation systems largely influence the performance of the logistics system. This work presents an adaptive data-driven innovative modular approach…
Multi-Robot Coverage problems have been extensively studied in robotics, planning and multi-agent systems. In this work, we consider the coverage problem when there are constraints on the proximity (e.g., maximum distance between the…
VRP (Vehicle Routing Problem) is an NP hard problem, and it has attracted a lot of research interest. In contexts where vehicles have limited carrying capacity, such as volume and weight but needed to deliver items at various locations.…
We study the capacitated vehicle routing problem in graphic metrics (graphic CVRP). Our main contribution is a new lower bound on the cost of an optimal solution. For graphic metrics, this lower bound is tight and significantly stronger…
The Metric Traveling Salesman Problem (TSP) is a classical NP-hard optimization problem. The double-tree shortcutting method for Metric TSP yields an exponentially-sized space of TSP tours, each of which approximates the optimal solution…
The problem of finding the shortest path for a vehicle visiting a given sequence of target points subject to the motion constraints of the vehicle is an important problem that arises in several monitoring and surveillance applications…
For a given graph $G=(V,\, E)$ with a terminal set $S$ and a selected root $r\in S$, a positive integer cost and a delay on every edge and a delay constraint $D\in Z^{+}$, the shallow-light Steiner tree (\emph{SLST}) problem is to compute a…
Given a directed graph $G$ with non negative cost on the arcs, a directed tree cover of $G$ is a rooted directed tree such that either head or tail (or both of them) of every arc in $G$ is touched by $T$. The minimum directed tree cover…
Motion planning under differential constraints is a classic problem in robotics. To date, the state of the art is represented by sampling-based techniques, with the Rapidly-exploring Random Tree algorithm as a leading example. Yet, the…
We present approximation algorithms for the following NP-hard optimization problems related to bottleneck spanning trees in metric spaces. 1. The disjoint bottleneck spanning tree problem: Given $n$ pairs of points in a metric space, find…
The electric vehicle routing problem (EVRP) has garnered great interest from researchers and industrialists in an attempt to move from fuel-based vehicles to healthier and more efficient electric vehicles (EVs). While it seems that the EVRP…