Related papers: Orbits, schemes and dynamic programming procedures…
We describe a randomized algorithm that, given a set $P$ of points in the plane, computes the best location to insert a new point $p$, such that the Delaunay triangulation of $P\cup\{p\}$ has the largest possible minimum angle. The expected…
In this paper, we consider the problem of allocating human operator assistance in a system with multiple autonomous robots. Each robot is required to complete independent missions, each defined as a sequence of tasks. While executing a…
The problem of planning for a robot that operates in environments containing a large number of objects, taking actions to move itself through the world as well as to change the state of the objects, is known as task and motion planning…
Optimal transport (OT) is a framework that can guide the design of efficient resource allocation strategies in a network of multiple sources and targets. This paper applies discrete OT to a swarm of UAVs in a novel way to achieve…
We introduce a generalization of the Euclidean algorithm for rings equipped with an involution, and completely enumerate all isomorphism classes of orders over definite, rational quaternion algebras equipped with an orthogonal involution…
A trajectory isomorphism between the two Newtonian fixed center problem in the sphere and two associated planar two fixed center problems is constructed by performing two simultaneous gnomonic projections in $S^2$. This isomorphism converts…
We present a simple randomized scheme for triangulating a set $P$ of $n$ points in the plane, and construct a kinetic data structure which maintains the triangulation as the points of $P$ move continuously along piecewise algebraic…
The Traveling Thief Problem (TTP) is a multi-component optimization problem that captures the interplay between routing and packing decisions by combining the classical Traveling Salesperson Problem (TSP) and the Knapsack Problem (KP). The…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
Periodic orbits are important objects of discrete dynamical systems, but finding them is not always easy. We present a self-contained introductory account, aimed at non-experts, to prove their existence and study their stability using the…
Five time-dependent orbital optimized coupled-cluster (TD-ooCC) methods, of which four can converge to the complete active space self-consistent-field method, are presented for fermion-mixtures with arbitrary fermion kinds and numbers.…
The size and complexity of modern astronomical surveys has grown to the point where, in many cases, traditional human scheduling of observations are tedious at best and impractical at worst. Automated scheduling algorithms present an…
A motion planning algorithm computes the motion of a robot by computing a path through its configuration space. To improve the runtime of motion planning algorithms, we propose to nest robots in each other, creating a nested quotient-space…
In pursuit of the time-optimal path tracking (TOPT) trajectory of a robot manipulator along a preset path, a beforehand identified robot dynamic model is usually used to obtain the required optimal trajectory for perfect tracking. However,…
Our research deals with the optimization version of the set partition problem, where the objective is to minimize the absolute difference between the sums of the two disjoint partitions. Although this problem is known to be NP-hard and…
This paper addresses the critical problem of co-optimizing the optimal locations for orbital depots and the sequence of in-space servicing for a satellite constellation. While most traditional studies used network optimization for this…
Given a graph of which the n vertices form a regular two-dimensional grid, and in which each (possibly weighted and/or directed) edge connects a vertex to one of its eight neighbours, the following can be done in O(scan(n)) I/Os, provided M…
Let $P$ be a collection of $n$ points moving along pseudo-algebraic trajectories in the plane. One of the hardest open problems in combinatorial and computational geometry is to obtain a nearly quadratic upper bound, or at least a subcubic…
We compute structure constants in N=4 SYM at one loop using Integrability. This requires having full control over the two loop eigenvectors of the dilatation operator for operators of arbitrary size. To achieve this, we develop an algebraic…
An important variant of the classic Traveling Salesman Problem (TSP) is the Dynamic TSP, in which a system with dynamic constraints is tasked with visiting a set of n target locations (in any order) in the shortest amount of time. Such…