Related papers: Revisiting the Minimum Constraint Removal Problem …
We examine an important combinatorial challenge in clearing clutter using a mobile robot equipped with a manipulator, seeking to compute an optimal object removal sequence for minimizing the task completion time, assuming that each object…
This work proposes an algorithm to bound the minimum distance between points on trajectories of a dynamical system and points on an unsafe set. Prior work on certifying safety of trajectories includes barrier and density methods, which do…
We introduce the parametric matroid one-interdiction problem. Given a matroid, each element of its ground set is associated with a weight that depends linearly on a real parameter from a given parameter interval. The goal is to find, for…
We study the problem of finding a triangulation T of a planar point set S such as to minimize the expected distance between two points x and y chosen uniformly at random from S. By distance we mean the length of the shortest path between x…
In the pattern formation problem, robots in a system must self-coordinate to form a given pattern, regardless of translation, rotation, uniform-scaling, and/or reflection. In other words, a valid final configuration of the system is a…
The Minimum Eccentricity Shortest Path Problem consists in finding a shortest path with minimum eccentricity in a given undirected graph. The problem is known to be NP-complete and W[2]-hard with respect to the desired eccentricity. We…
A common sensing problem is to use a set of stationary tracking locations to monitor a collection of moving devices: Given $n$ objects that need to be tracked, each following its own trajectory, and $m$ stationary traffic control stations,…
The problem of minimizing the number of bidirectional SONET rings required to support a given traffic demand has been studied by several researchers. Here we study the related ``ring grooming problem'' of minimizing the number of add/drop…
At each iteration of a Block Coordinate Descent method one minimizes an approximation of the objective function with respect to a generally small set of variables subject to constraints in which these variables are involved. The…
We study unlabeled multi-robot motion planning for unit-disk robots in a polygonal environment. Although the problem is hard in general, polynomial-time solutions exist under appropriate separation assumptions on start and target positions.…
This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of…
We consider the problem of connected coordinated motion planning for a large collective of simple, identical robots: From a given start grid configuration of robots, we need to reach a desired target configuration via a sequence of…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…
We deal with algorithmic techniques for minimal cost input-connectivity while maintaining controllability of linear systems. The input matrix is assumed to be constrained in the sense that the set of states that each input (if present) can…
The sparse linear reconstruction problem is a core problem in signal processing which aims to recover sparse solutions to linear systems. The original problem regularized by the total number of nonzero components (also known as $L_0$…
In this paper, we study a generalization of the classical minimum cut prob- lem, called Connectivity Preserving Minimum Cut (CPMC) problem, which seeks a minimum cut to separate a pair (or pairs) of source and destination nodes and…
Planning problems are hard, motion planning, for example, isPSPACE-hard. Such problems are even more difficult in the presence of uncertainty. Although, Markov Decision Processes (MDPs) provide a formal framework for such problems, finding…
In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…
Symmetry is an important problem in many combinatorial problems. One way of dealing with symmetry is to add constraints that eliminate symmetric solutions. We survey recent results in this area, focusing especially on two common and useful…