Related papers: The Small Solution Hypothesis for MAPF on Strongly…
The detection of curved lanes is still challenging for autonomous driving systems. Although current cutting-edge approaches have performed well in real applications, most of them are based on strict model assumptions. Similar to other…
Multi-agent path finding (MAPF) in large networks is computationally challenging. An approach for MAPF is prioritized planning (PP), in which agents plan sequentially according to their priority. Albeit a computationally efficient approach…
The {\it partially disjoint paths problem} is: {\it given:} a directed graph, vertices $r_1,s_1,\ldots,r_k,s_k$, and a set $F$ of pairs $\{i,j\}$ from $\{1,\ldots,k\}$, {\it find:} for each $i=1,\ldots,k$ a directed $r_i-s_i$ path $P_i$…
We introduce the following notion: a digraph $D=(V,A)$ with arc weights $c: A\rightarrow \R$ is called nearly conservative if every negative cycle consists of two arcs. Computing shortest paths in nearly conservative digraphs is NP-hard,…
In modern fulfillment warehouses, agents traverse the map to complete endless tasks that arrive on the fly, which is formulated as a lifelong Multi-Agent Path Finding (lifelong MAPF) problem. The goal of tackling this challenging problem is…
In some applications of matching, the structural or hierarchical properties of the two graphs being aligned must be maintained. The hierarchical properties are induced by the direction of the edges in the two directed graphs. These…
We study the NP-hard Minimum Shared Edges (MSE) problem on graphs: decide whether it is possible to route $p$ paths from a start vertex to a target vertex in a given graph while using at most $k$ edges more than once. We show that MSE can…
Coordinating multiple interacting agents to achieve a common goal is a difficult task with huge applicability. This problem remains hard to solve, even when limiting interactions to be mediated via a static interaction-graph. We present a…
We initiate the study of a fundamental combinatorial problem: Given a capacitated graph $G=(V,E)$, find a shortest walk ("route") from a source $s\in V$ to a destination $t\in V$ that includes all vertices specified by a set…
MAPF problem aims to find plans for multiple agents in an environment within a given time, such that the agents do not collide with each other or obstacles. Motivated by the execution and monitoring of these plans, we study Dynamic MAPF…
For a directed graph $G$, let $\mathrm{mindeg}(G)$ be the minimum among in-degrees and out-degrees of all vertices of $G$. It is easy to see that $G$ contains a directed cycle of length at least $\mathrm{mindeg}(G)+1$. In this note, we show…
Let G be an undirected simple graph having n vertices and let f be a function defined to be f:V(G) -> {0,..., n-1}. An f-factor of G is a spanning subgraph H such that degree of a vertex v in H is f(v) for every vertex v in V(G). The…
Multi-Agent Path Finding (MAPF) is an important core problem for many new and emerging industrial applications. Many works appear on this topic each year, and a large number of substantial advancements and performance improvements have been…
In the Metric Dimension problem, one asks for a minimum-size set $R$ of vertices such that for any pair of vertices of the graph, there is a vertex from $R$ whose two distances to the vertices of the pair are distinct. This problem has…
Graphs are fundamental objects that find widespread applications across computer science and beyond. Graph Theory has yielded deep insights about structural properties of various families of graphs, which are leveraged in the design and…
A directed graph $D$ is singly connected if for every ordered pair of vertices $(s,t)$, there is at most one path from $s$ to $t$ in $D$. Graph orientation problems ask, given an undirected graph $G$, to find an orientation of the edges…
Multiagent systems consist of agents that locally exchange information through a physical network subject to a graph topology. Current control methods for networked multiagent systems assume the knowledge of graph topologies in order to…
Many complex questions in biology, physics, and mathematics can be mapped to the graph isomorphism problem and the closely related graph automorphism problem. In particular, these problems appear in the context of network visualization,…
Connectivity in temporal graphs relies on the notion of temporal paths, in which edges follow a chronological order (either strict or non-strict). In this work, we investigate the question of how to make a temporal graph connected. More…
The problem of matching a query string to a directed graph, whose vertices are labeled by strings, has application in different fields, from data mining to computational biology. Several variants of the problem have been considered,…