Related papers: Revisiting the Minimum Constraint Removal Problem …
The parametric shortest path problem is to find the shortest paths in graph where the edge costs are of the form w_ij+lambda where each w_ij is constant and lambda is a parameter that varies. The problem is to find shortest path trees for…
We address the optimal dynamic formation problem in mobile leader-follower networks where an optimal formation is generated to maximize a given objective function while continuously preserving connectivity. We show that in a convex mission…
We characterize the solution to the Newton minimal resistance problem in a class of radial q-concave profiles. We also give the corresponding result for one-dimensional profiles. Moreover, we provide a numerical optimization algorithm for…
In this work, we study the computational complexity of the Minimum Distance Code Detection problem. In this problem, we are given a set of noisy codeword observations and we wish to find a code in a set of linear codes $\mathcal{C}$ of a…
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…
Finding paths in graphs is a fundamental graph-theoretic task. In this work, we we are concerned with finding a path with some constraints on its length and the number of vertices neighboring the path, that is, being outside of and incident…
We study the algorithmic problem of optimally covering a tree with $k$ mobile robots. The tree is known to all robots, and our goal is to assign a walk to each robot in such a way that the union of these walks covers the whole tree. We…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
In this study, we propose an algorithmic framework for solving a class of optimal control problems. This class is associated with the minimum-time interception of moving target problems, where a plant with a given state equation must…
The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
Computational intractability has for decades motivated the development of a plethora of methodologies that mainly aimed at a quality-time trade-off. The use of Machine Learning techniques has finally emerged as one of the possible tools to…
The multiway-cut problem is, given a weighted graph and k >= 2 terminal nodes, to find a minimum-weight set of edges whose removal separates all the terminals. The problem is NP-hard, and even NP-hard to approximate within 1+delta for some…
In many problems in optimal control, one seeks to minimise an objective function subject to constraints on the velocity of the system. Imposing these constraints directly -- the ``hard-constrained'' approach -- is often analytically and…
Assembly planning is a fundamental problem in robotics and automation, which involves designing a sequence of motions to bring the separate constituent parts of a product into their final placement in the product. Assembly planning is…
The Minimum Path Cover (MPC) problem consists of finding a minimum-cardinality set of node-disjoint paths that cover all nodes in a given graph. We explore a variant of the MPC problem on acyclic digraphs (DAGs) where, given a subset of…
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…
Planning for Autonomous Unmanned Ground Vehicles (AUGV) is still a challenge, especially in difficult, off-road, critical situations. Automatic planning can be used to reach mission objectives, to perform navigation or maneuvers. Most of…
Constrained Motion Planning (CMP) aims to find a collision-free path between the given start and goal configurations on the kinematic constraint manifolds. These problems appear in various scenarios ranging from object manipulation to…
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…
This paper considers the collision avoidance problem in a multi-agent multi-obstacle framework. The originality in solving this intensively studied problem resides in the proposed geometrical view combined with differential flatness for…