Related papers: Guaranteed, Predictable, Polynomial AGV Time-Pathi…
As machine learning techniques become ubiquitous, the efficiency of neural network implementations is becoming correspondingly paramount. Frameworks, such as Halide and TVM, separate out the algorithmic representation of the network from…
General factors are a generalization of matchings. Given a graph $G$ with a set $\pi(v)$ of feasible degrees, called a degree constraint, for each vertex $v$ of $G$, the general factor problem is to find a (spanning) subgraph $F$ of $G$…
Fast algorithms for optimal multi-robot path planning are sought after in real-world applications. Known methods, however, generally do not simultaneously guarantee good solution optimality and good (e.g., polynomial) running time. In this…
To plan the trajectories of a large-scale heterogeneous swarm, sequentially or synchronously distributed methods usually become intractable due to the lack of global clock synchronization. To this end, we provide a novel asynchronous…
The paper proposes a solution for the Grid scheduling problem, addressing in particular the requirement of high performance an efficient algorithm must fulfill. Advance Reservation engages a distributed, dynamic, fault-tolerant and…
This paper proposes a path planning strategy for an Autonomous Ground Vehicle (AGV) navigating in a partially known environment. Global path planning is performed by first using a spatial database of the region to be traversed containing…
Environment prediction frameworks are critical for the safe navigation of autonomous vehicles (AVs) in dynamic settings. LiDAR-generated occupancy grid maps (L-OGMs) offer a robust bird's-eye view for the scene representation, enabling…
We investigate the multi-step prediction of the drivable space, represented by Occupancy Grid Maps (OGMs), for autonomous vehicles. Our motivation is that accurate multi-step prediction of the drivable space can efficiently improve path…
High-speed multi-agent autonomous racing demands robust spatiotemporal planning and precise control under strict computational limits. Current methods often oversimplify interactions or abandon strict kinematic constraints. We resolve this…
Features in machine learning problems are often time-varying and may be related to outputs in an algebraic or dynamical manner. The dynamic nature of these machine learning problems renders current higher order accelerated gradient descent…
A graph separator is a subset of vertices of a graph whose removal divides the graph into small components. Computing small graph separators for various classes of graphs is an important computational task. In this paper, we present a…
We consider a natural generalization of classical scheduling problems in which using a time unit for processing a job causes some time-dependent cost which must be paid in addition to the standard scheduling cost. We study the scheduling…
The main results of this paper provide an Efficient Polynomial-Time Approximation Scheme (EPTAS) for approximating the genus (and non-orientable genus) of dense graphs. By dense we mean that $|E(G)|\ge \alpha |V(G)|^2$ for some fixed…
Travel-time prediction constitutes a task of high importance in transportation networks, with web mapping services like Google Maps regularly serving vast quantities of travel time queries from users and enterprises alike. Further, such a…
Autonomous agents face the challenge of coordinating multiple tasks (perception, motion planning, controller) which are computationally expensive on a single onboard computer. To utilize the onboard processing capacity optimally, it is…
We give a deterministic $m^{1+o(1)}$ time algorithm that computes exact maximum flows and minimum-cost flows on directed graphs with $m$ edges and polynomially bounded integral demands, costs, and capacities. As a consequence, we obtain the…
In the PATH COVER problem, one asks to cover the vertices of a graph using the smallest possible number of (not necessarily disjoint) paths. While the variant where the paths need to be pairwise vertex-disjoint, which we call PATH…
This report presents an algorithm to statically schedule live and strongly connected Marked Graphs (MG). The proposed algorithm computes the best execution where the execution rate is maximal and place sizes are minimal. The proposed…
The problem of extending partial geometric graph representations such as plane graphs has received considerable attention in recent years. In particular, given a graph $G$, a connected subgraph $H$ of $G$ and a drawing $\mathcal{H}$ of $H$,…
Let $G = (V, E)$ be an $m_1 \times \ldots \times m_k$ grid. Assuming that each $v \in V$ is occupied by a robot and a robot may move to a neighboring vertex in a step via synchronized rotations along cycles of $G$, we first establish that…