Related papers: Revisiting the Minimum Constraint Removal Problem …
State minimization of combinatorial filters is a fundamental problem that arises, for example, in building cheap, resource-efficient robots. But exact minimization is known to be NP-hard. This paper conducts a more nuanced analysis of this…
This article considers two variants of a shortest path problem for a car-like robot visiting a set of waypoints. The sequence of waypoints to be visited is specified in the first variant while the robot is allowed to visit the waypoints in…
Obstacle avoidance is an important task in the field of robotics, since the goal of autonomous robot is to reach the destination without collision. Several algorithms have been proposed for obstacle avoidance, having drawbacks and benefits.…
In the Minimum Clique Routing Problem on Cycles \textsc{MCRPC} we are given a cycle together with a set of demands (weighted origin-destination pairs) and the goal is to route all the pairs minimizing the maximum weighted clique of the…
We consider methods for finding a simple polygon of minimum (Min-Area) or maximum (Max-Area) possible area for a given set of points in the plane. Both problems are known to be NP-hard; at the center of the recent CG Challenge, practical…
We prove optimal regularity and a detailed analysis of the free boundary of the solutions to the thin obstacle problem for nonparametric minimal surfaces with flat obstacles.
In Coordinated Motion Planning (CMP), we are given a rectangular-grid on which $k$ robots occupy $k$ distinct starting gridpoints and need to reach $k$ distinct destination gridpoints. In each time step, any robot may move to a neighboring…
The steady development of motor vehicle technology will enable cars of the near future to assume an ever increasing role in the decision making and control of the vehicle itself. In the foreseeable future, cars will have the ability to…
We address the following problem: Given a simple polygon $P$ with $n$ vertices and two points $s$ and $t$ inside it, find a minimum link path between them such that a given target point $q$ is visible from at least one point on the path.…
This paper presents an optimal $\Theta(n \log n)$ algorithm for determining time-minimal rectilinear paths among $n$ transient rectilinear obstacles. An obstacle is transient if it exists in the scene only for a specific time interval,…
We provide exact and approximation methods for solving a geometric relaxation of the Traveling Salesman Problem (TSP) that occurs in curve reconstruction: for a given set of vertices in the plane, the problem Minimum Perimeter Polygon (MPP)…
The affine rank minimization problem consists of finding a matrix of minimum rank that satisfies a given system of linear equality constraints. Such problems have appeared in the literature of a diverse set of fields including system…
The (unweighted) point-separation problem asks, given a pair of points $s$ and $t$ in the plane, and a set of candidate geometric objects, for the minimum-size subset of objects whose union blocks all paths from $s$ to $t$. Recent work has…
When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…
As robots are being integrated into our daily lives, it becomes necessary to provide guarantees on the safe and provably correct operation. Such guarantees can be provided using automata theoretic task and mission planning where the…
We study two principle minimizing problems, subject of different constraints. Our open sets are assumed bounded, except mentioning otherwise;precisely $\Omega=]0,1[^n \in {\mathbb{R}}^n , n=1 $ or $n=2$.
The ridesharing problem is that given a set of trips, each trip consists of an individual, a vehicle of the individual and some requirements, select a subset of trips and use the vehicles of selected trips to deliver all individuals to…
In the Minimum Installation Path problem, we are given a graph $G$ with edge weights $w(.)$ and two vertices $s,t$ of $G$. We want to assign a non-negative power $p(v)$ to each vertex $v$ of $G$ so that the edges $uv$ such that $p(u)+p(v)$…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
We introduce a parallel machine scheduling problem in which the processing times of jobs are not given in advance but are determined by a system of linear constraints. The objective is to minimize the makespan, i.e., the maximum job…