Related papers: Revisiting the Minimum Constraint Removal Problem …
Mobile robots, especially unmanned aerial vehicles (UAVs), are of increasing interest for surveillance and disaster response scenarios. We consider the problem of multi-robot persistent surveillance with connectivity constraints where…
Assume n wireless mobile sensors are initially dispersed in an ad hoc manner in a rectangular region. They are required to move to final locations so that they can detect any intruder crossing the region in a direction parallel to the sides…
We consider the problem of minimal correction of the training set to make it consistent with monotonic constraints. This problem arises during analysis of data sets via techniques that require monotone data. We show that this problem is…
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
In this paper, we study the minimal cost constrained input-output (I/O) and control configuration co-design problem. Given a linear time-invariant plant, where a collection of possible inputs and outputs is known a priori, we aim to…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
We revisit the minimum-link path problem: Given a polyhedral domain and two points in it, connect the points by a polygonal path with minimum number of edges. We consider settings where the vertices and/or the edges of the path are…
Given a line segment $I=[0,L]$, the so-called barrier, and a set of $n$ sensors with varying ranges positioned on the line containing $I$, the barrier coverage problem is to move the sensors so that they cover $I$, while minimising the…
Minimum distance constraints (minDCs) appear in many geometric optimization problems. They pose major challenges for mixed-integer nonlinear programming (MINLP) due to their reverse-convexity. We develop new algorithms for tightening…
In motion planning problems for autonomous robots, such as self-driving cars, the robot must ensure that its planned path is not in close proximity to obstacles in the environment. However, the problem of evaluating the proximity is…
We consider several combinatorial optimization problems which combine the classic shop scheduling problems, namely open shop scheduling or job shop scheduling, and the shortest path problem. The objective of the obtained problem is to…
We consider geometric collision-detection problems for modular reconfigurable robots. Assuming the nodes (modules) are connected squares on a grid, we investigate the complexity of deciding whether collisions may occur, or can be avoided,…
We consider the problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time spent there. We…
Matrix rank minimization problems are gaining a plenty of recent attention in both mathematical and engineering fields. This class of problems, arising in various and across-discipline applications, is known to be NP-hard in general. In…
In this paper, we introduce the Maximum Matrix Contraction problem, where we aim to contract as much as possible a binary matrix in order to maximize its density. We study the complexity and the polynomial approximability of the problem.…
We show that any submodular minimization (SM) problem defined on a linear constraint set with constraints having up to two variables per inequality, are 2-approximable in polynomial time. If the constraints are monotone (the two variables…
Crossing minimization is one of the central problems in graph drawing. Recently, there has been an increased interest in the problem of minimizing crossings between paths in drawings of graphs. This is the metro-line crossing minimization…
We consider a wireless network with a set of transmitter-receiver pairs, or links, that share a common channel, and address the problem of emptying finite traffic volume from the transmitters in minimum time. This, so called, minimum-time…
A metro-line crossing minimization problem is to draw multiple lines on an underlying graph that models stations and rail tracks so that the number of crossings of lines becomes minimum. It has several variations by adding restrictions on…
This paper is about minimum cost constrained selection of inputs and outputs for generic arbitrary pole placement. The input-output set is constrained in the sense that the set of states that each input can influence and the set of states…