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Scheduling problems are fundamental in combinatorial optimization. Much work has been done on approximation algorithms for NP-hard cases, but relatively little is known about exact solutions when some part of the input is a fixed parameter.…
We consider the massively parallel computation (MPC) model, which is a theoretical abstraction of large-scale parallel processing models such as MapReduce. In this model, assuming the widely believed 1-vs-2-cycles conjecture, solving many…
We study the parameterized complexity of a generalization of the coordinated motion planning problem on graphs, where the goal is to route a specified subset of a given set of $k$ robots to their destinations with the aim of minimizing the…
Finding a few solutions for a given problem that are diverse, as opposed to finding a single best solution to solve the problem, has recently become a notable topic in theoretical computer science. Recently, Baste, Fellows, Jaffke,…
Classically, planning tasks are studied as a two-step process: plan creation and plan execution. In situations where plan creation is slow (for example, due to expensive information access or complex constraints), a natural speed-up tactic…
Predictive coding has emerged as an influential normative model of neural computation, with numerous extensions and applications. As such, much effort has been put into mapping PC faithfully onto the cortex, but there are issues that remain…
In this paper we present a novel probabilistic sampling-based motion planning algorithm called the Fast Marching Tree algorithm (FMT*). The algorithm is specifically aimed at solving complex motion planning problems in high-dimensional…
Many hard graph problems, such as Hamiltonian Cycle, become FPT when parameterized by treewidth, a parameter that is bounded only on sparse graphs. When parameterized by the more general parameter clique-width, Hamiltonian Cycle becomes…
Model Predictive Control (MPC) is a classic tool for optimal control of complex, real-world systems. Although it has been successfully applied to a wide range of challenging tasks in robotics, it is fundamentally limited by the prediction…
We show how a posteriori goal oriented error estimation can be used to efficiently solve the subproblems occurring in a Model Predictive Control (MPC) algorithm. In MPC, only an initial part of a computed solution is implemented as a…
In this paper, we develop approximate dynamic programming methods for stochastic systems modeled as Markov Decision Processes, given both soft performance criteria and hard constraints in a class of probabilistic temporal logic called…
We consider the classic problem of Network Reliability. A network is given together with a source vertex, one or more target vertices, and probabilities assigned to each of the edges. Each edge appears in the network with its associated…
The complexity of problems involving global constraints is usually much more difficult to understand than the complexity of problems only involving local constraints. A natural form of global constraints are connectivity constraints. We…
The Principle of Maximal Conformality (PMC) provides a rigorous method for eliminating renormalization scheme-and-scale ambiguities for perturbative QCD predictions. The PMC uses the renormalization group equation to fix the $\beta$-pattern…
Latent variable models are an elegant framework for capturing rich probabilistic dependencies in many applications. However, current approaches typically parametrize these models using conditional probability tables, and learning relies…
Model predictive control (MPC) is a powerful framework for optimal control of dynamical systems. However, MPC solvers suffer from a high computational burden that restricts their application to systems with low sampling frequency. This…
We give an algorithm that for an input n-vertex graph G and integer k>0, in time 2^[O(k)]n either outputs that the treewidth of G is larger than k, or gives a tree decomposition of G of width at most 5k+4. This is the first algorithm…
For the vast majority of local graph problems standard dynamic programming techniques give c^tw V^O(1) algorithms, where tw is the treewidth of the input graph. On the other hand, for problems with a global requirement (usually…
We give an algorithm that takes as input an $n$-vertex graph $G$ and an integer $k$, runs in time $2^{O(k^2)} n^{O(1)}$, and outputs a tree decomposition of $G$ of width at most $k$, if such a decomposition exists. This resolves the…
Computer programs, so-called solvers, for solving the well-known Boolean satisfiability problem (Sat) have been improving for decades. Among the reasons, why these solvers are so fast, is the implicit usage of the formula's structural…