Related papers: Shortest Paths of Mutually Visible Robots
It is an open question whether there exists a polynomial-time algorithm for computing the rotation distances between pairs of extended ordered binary trees. The problem of computing the rotation distance between an arbitrary pair of trees,…
We investigate multiple fundamental variants of the classic coordinated motion planning (CMP) problem for unit square robots in the plane under the $L_1$ metric. In coordinated motion planning, we are given two arrangements of $k$ robots…
Consider two entities with constant but not necessarily equal velocities, moving on two given piece-wise linear trajectories inside a simple polygon $P$. The Trajectory Range Visibility problem deals with determining the sub-trajectories on…
Let $\mathcal{W} \subset \mathbb{R}^2$ be a rectilinear polygonal environment (that is, a rectilinear polygon potentially with holes) with a total of $n$ vertices, and let $A,B$ be two robots, each modeled as an axis-aligned unit square,…
Let $P$ be a simple polygon of $n$ vertices. We consider two-point $L_1$ shortest path queries in $P$. We build a data structure of $O(n)$ size in $O(n)$ time such that given any two query points $s$ and $t$, the length of an $L_1$ shortest…
In this paper we study local routing strategies on geometric graphs. Such strategies use geometric properties of the graph like the coordinates of the current and target nodes to route. Specifically, we study routing strategies in the…
Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…
Given a set of $n\geq 1$ unit disk robots in the Euclidean plane, we consider the fundamental problem of providing mutual visibility to them: the robots must reposition themselves to reach a configuration where they all see each other. This…
We study the problem of computing a shortest tour that visits a sequence of $k$ polygons $P_1,\dots, P_k$ with a total number of $n$ vertices. A tour is an oriented curve such that there exist points $p_i\in P_i$ for all $i$ where $p_i$…
Given two sets $S$ and $T$ of points in the plane, of total size $n$, a {many-to-many} matching between $S$ and $T$ is a set of pairs $(p,q)$ such that $p\in S$, $q\in T$ and for each $r\in S\cup T$, $r$ appears in at least one such pair.…
Given in the plane a set $S$ of $n$ points and a set of disks centered at these points, the disk graph $G(S)$ induced by these disks has vertex set $S$ and an edge between two vertices if their disks intersect. Note that the disks may have…
We devise a polynomial-time approximation scheme for the classical geometric problem of finding an approximate short path amid weighted regions. In this problem, a triangulated region P comprising of n vertices, a positive weight associated…
We consider the computational problem of finding short paths in the skeleton of the perfect matching polytope of a bipartite graph. We prove that unless $P=NP$, there is no polynomial-time algorithm that computes a path of constant length…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
This paper presents a minimum displacement motion planning problem wherein obstacles are displaced by a minimum amount to find a feasible path. We define a metric for robot-obstacle intersection that measures the extent of the intersection…
In this paper, we study the following problem of reconstructing a simple polygon: Given a cyclically ordered vertex sequence of an unknown simple polygon P of n vertices and, for each vertex v of P, the sequence of angles defined by all the…
We perform structural and algorithmic studies of significantly generalized versions of the optimal perimeter guarding (OPG) problem. As compared with the original OPG where robots are uniform, in this paper, many mobile robots with…
The goal of this paper is to design a simplex algorithm for linear programs on lattice polytopes that traces `short' simplex paths from any given vertex to an optimal one. We consider a lattice polytope $P$ contained in $[0,k]^n$ and…
We introduce the \emph{visibility center} of a set of points inside a polygon -- a point $c_V$ such that the maximum geodesic distance from $c_V$ to see any point in the set is minimized. For a simple polygon of $n$ vertices and a set of…
We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…