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This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational constraints for real-time adaptation, and accounting for…
We consider the traveling salesman problem when the cities are points in R^d for some fixed d and distances are computed according to geometric distances, determined by some norm. We show that for any polyhedral norm, the problem of finding…
In the recently introduced network patrolling game, an Attacker carries out an attack on a node of her choice, for a given number m of consecutive periods. The parameter m indicates the difficulty of the attack at a given node. To thwart…
In many applications, learning systems are required to process continuous non-stationary data streams. We study this problem in an online learning framework and propose an algorithm that can deal with adversarial time-varying and nonlinear…
The problem of constrained coverage path planning involves a robot trying to cover maximum area of an environment under some constraints that appear as obstacles in the map. Out of the several coverage path planning methods, we consider…
We study the problem of \emph{dynamic regret minimization} in $K$-armed Dueling Bandits under non-stationary or time varying preferences. This is an online learning setup where the agent chooses a pair of items at each round and observes…
We study parameterized and approximation algorithms for a variant of Set Cover, where the universe of elements to be covered consists of points in the plane and the sets with which the points should be covered are segments. We call this…
We consider the Set Once Strip Cover problem, in which n wireless sensors are deployed over a one-dimensional region. Each sensor has a fixed battery that drains in inverse proportion to a radius that can be set just once, but activated at…
We consider the problem of tracking an intruder using a network of wireless sensors. For tracking the intruder at each instant, the optimal number and the right configuration of sensors has to be powered. As powering the sensors consumes…
Structural learning, a method to estimate the parameters for discrete energy minimization, has been proven to be effective in solving computer vision problems, especially in 3D scene parsing. As the complexity of the models increases,…
Finding the Time-Optimal Parameterization of a Path (TOPP) subject to second-order constraints (e.g. acceleration, torque, contact stability, etc.) is an important and well-studied problem in robotics. In comparison, TOPP subject to…
Intercepting a criminal using limited police resources presents a significant challenge in dynamic crime environments, where the criminal's location continuously changes over time. The complexity is further heightened by the vastness of the…
We analyze velocity-jump process models of persistent search for a single target on a bounded domain. The searcher proceeds along ballistic trajectories and is absorbed upon collision with the target boundary. When reaching the domain…
Effective game-theoretic modeling of defender-attacker behavior is becoming increasingly important. In many domains, the defender functions not only as a player but also the designer of the game's payoff structure. We study Stackelberg…
The moving target traveling salesman problem with obstacles (MT-TSP-O) seeks an obstacle-free trajectory for an agent that intercepts a given set of moving targets, each within specified time windows, and returns to the agent's starting…
We study a novel multi-armed bandit problem that models the challenge faced by a company wishing to explore new strategies to maximize revenue whilst simultaneously maintaining their revenue above a fixed baseline, uniformly over time.…
To fully utilize the abundant spectrum resources in millimeter wave (mmWave), Beam Alignment (BA) is necessary for large antenna arrays to achieve large array gains. In practical dynamic wireless environments, channel modeling is…
In adversarial patrolling games, a mobile Defender strives to discover intrusions at vulnerable targets initiated by an Attacker. The Attacker's utility is traditionally defined as the probability of completing an attack, possibly weighted…
We consider the indirect covering subtree problem (Kim et al., 1996). The input is an edge weighted tree graph along with customers located at the nodes. Each customer is associated with a radius and a penalty. The goal is to locate a…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…