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Motion planning has been studied for nearly four decades now. Complete, combinatorial motion planning approaches are theoretically well-rooted with completeness guarantees but they are hard to implement. Sampling-based and heuristic methods…
This is a computational study of bottlenecks on algebraic varieties. The bottlenecks of a smooth variety $X \subseteq \mathbb{C}^n$ are the lines in $\mathbb{C}^n$ which are normal to $X$ at two distinct points. The main result is a…
Let G be an undirected simple graph having n vertices and let f be a function defined to be f:V(G) -> {0,..., n-1}. An f-factor of G is a spanning subgraph H such that degree of a vertex v in H is f(v) for every vertex v in V(G). The…
Sampling-based motion planners have proven to be efficient solutions to a variety of high-dimensional, geometrically complex motion planning problems with applications in several domains. The traditional view of these approaches is that…
A subset of Q^n is called semilinear (or piecewise linear) if it is Boolean combination of linear half-spaces. We study the computational complexity of the constraint satisfaction problem (CSP) over the rationals when all the constraints…
Let V $\subset$ C n be an equidimensional algebraic set and g be an n-variate polynomial with rational coefficients. Computing the critical points of the map that evaluates g at the points of V is a cornerstone of several algorithms in real…
In this paper, we present Approximation Schemes for Capacitated Vehicle Routing Problem (CVRP) on several classes of graphs. In CVRP, introduced by Dantzig and Ramser (1959), we are given a graph $G=(V,E)$ with metric edges costs, a depot…
We present a Monte Carlo algorithm for Hamiltonicity detection in an $n$-vertex undirected graph running in $O^*(1.657^{n})$ time. To the best of our knowledge, this is the first superpolynomial improvement on the worst case runtime for the…
This work studies path planning in two-dimensional space, in the presence of polygonal obstacles. We specifically address the problem of building a roadmap graph, that is, an abstract representation of all the paths that can potentially be…
We study the design of robust subexponential algorithms for classical connectivity problems on intersection graphs of similarly sized fat objects in $\mathbb{R}^d$. In this setting, each vertex corresponds to a geometric object, and two…
In multi-objective optimization, computing the entire non-dominated set (also known as the Pareto front or the Pareto frontier) is often intractable. However, for any multiplicative factor greater than one, an approximation set can be…
Answering connectivity queries in semi-algebraic sets is a long-standing and challenging computational issue with applications in robotics, in particular for the analysis of kinematic singularities. One task there is to compute the number…
We study partial and budgeted versions of the well studied connected dominating set problem. In the partial connected dominating set problem, we are given an undirected graph G = (V,E) and an integer n', and the goal is to find a minimum…
The Capacitated Vehicle Routing Problem (CVRP) is a core NP-hard problem in the field of combinatorial optimization. It aims to plan optimal routes for a fleet of vehicles with uniform capacity, serving a set of customers with specific…
It is well known that many local graph problems, like Vertex Cover and Dominating Set, can be solved in 2^{O(tw)}|V|^{O(1)} time for graphs G=(V,E) with a given tree decomposition of width tw. However, for nonlocal problems, like the…
Tutte paths are one of the most successful tools for attacking Hamiltonicity problems in planar graphs. Unfortunately, results based on them are non-constructive, as their proofs inherently use an induction on overlapping subgraphs and…
Let $G$ be an $n$-vertex graph with $m$ edges. When asked a subset $S$ of vertices, a cut query on $G$ returns the number of edges of $G$ that have exactly one endpoint in $S$. We show that there is a bounded-error quantum algorithm that…
This study presents an in-depth computational analysis of four well-known Capacitated Vehicle Routing Problem (CVRP) formulations with polynomial number of subtour elimination constraints: a node-based formulation and three arc-based…
In this paper, we provide a new scheme for approximating the weakly efficient solution set for a class of vector optimization problems with rational objectives over a feasible set defined by finitely many polynomial inequalities. More…
We study the design of fixed-parameter algorithms for problems already known to be solvable in polynomial time. The main motivation is to get more efficient algorithms for problems with unattractive polynomial running times. Here, we focus…