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Given a graph G, the {\em maximum internal spanning tree problem} (MIST for short) asks for computing a spanning tree T of G such that the number of internal vertices in T is maximized. MIST has possible applications in the design of…
Finding spanning trees under various constraints is a classic problem with applications in many fields. Recently, a novel notion of "dense" ("sparse") tree, and in particular spanning tree (DST and SST respectively), is introduced as the…
Hierarchical clustering (HC) algorithms are generally limited to small data instances due to their runtime costs. Here we mitigate this shortcoming and explore fast HC algorithms based on random projections for single (SLC) and average…
This paper presents a novel algorithm for robot task and motion planning (TAMP) problems by utilizing a reachability tree. While tree-based algorithms are known for their speed and simplicity in motion planning (MP), they are not…
In this paper, we propose a new zero order optimization method called minibatch stochastic three points (MiSTP) method to solve an unconstrained minimization problem in a setting where only an approximation of the objective function…
In this work, a set of motion primitives is defined for use in an energy-aware motion planning problem. The motion primitives are defined as sequences of control inputs to a simplified four-DOF dynamics model and are used to replace the…
Innovative shared mobility services provide on-demand flexible mobility options and have the potential to alleviate traffic congestion. These attractive services are challenging from different perspectives. One major challenge in such…
Fast, autonomous flight in unstructured, cluttered environments such as forests is challenging because it requires the robot to compute new plans in realtime on a computationally-constrained platform. In this paper, we enable this…
Search trees on trees (STTs) are a far-reaching generalization of binary search trees (BSTs), allowing the efficient exploration of tree-structured domains. (BSTs are the special case in which the underlying domain is a path.) Trees on…
The Hop-Constrained Steiner Tree problem (HCST) is challenging NP-hard problem arising in the design of centralized telecommunication networks where the reliability constraints matter. In this paper three iterative greedy algorithms are…
The "fast iterative shrinkage-thresholding algorithm", a.k.a. FISTA, is one of the most well-known first-order optimisation scheme in the literature, as it achieves the worst-case $O(1/k^2)$ optimal convergence rate in terms of objective…
In this work, we develop the Batch Belief Trees (BBT) algorithm for motion planning under motion and sensing uncertainties. The algorithm interleaves between batch sampling, building a graph of nominal trajectories in the state space, and…
This paper introduces Bidirectional Guidance Informed Trees (BIGIT*),~a new asymptotically optimal sampling-based motion planning algorithm. Capitalizing on the strengths of \emph{meet-in-the-middle} property in bidirectional heuristic…
Along with the development of manufacture and services, the problem of distribution network optimization has been growing in importance, thus receiving much attention from the research community. One of the most recently introduced network…
The minimum degree spanning tree (MDST) problem requires the construction of a spanning tree $T$ for graph $G=(V,E)$ with $n$ vertices, such that the maximum degree $d$ of $T$ is the smallest among all spanning trees of $G$. In this paper,…
In this paper we consider the unconstrained minimization problem of a smooth function in ${\mathbb{R}}^n$ in a setting where only function evaluations are possible. We design a novel randomized derivative-free algorithm --- the stochastic…
Short spanning trees subject to additional constraints are important building blocks in various approximation algorithms. Especially in the context of the Traveling Salesman Problem (TSP), new techniques for finding spanning trees with…
Simulated annealing (SA) attracts more attention among classical heuristic algorithms because the solution of the combinatorial optimization problem can be naturally mapped to the ground state of the Ising Hamiltonian. However, in practical…
Robots are increasingly deployed in dynamic and crowded environments, such as urban areas and shopping malls, where efficient and robust navigation is crucial. Traditional risk-based motion planning algorithms face challenges in such…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…