Related papers: Parameterized Algorithms for Coordinated Motion Pl…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
Constrained robot motion planning is a ubiquitous need for robots interacting with everyday environments, but it is a notoriously difficult problem to solve. Many sampled points in a sample-based planner need to be rejected as they fall…
In this paper we present an algorithmic framework for solving a class of combinatorial optimization problems on graphs with bounded pathwidth. The problems are NP-hard in general, but solvable in linear time on this type of graphs. The…
We consider the parameterised complexity of several list problems on graphs, with parameter treewidth or pathwidth. In particular, we show that List Edge Chromatic Number and List Total Chromatic Number are fixed parameter tractable,…
We give unconditional parameterized complexity lower bounds on pure dynamic programming algorithms - as modeled by tropical circuits - for connectivity problems such as the Traveling Salesperson Problem. Our lower bounds are higher than the…
In this paper, we present a learning approach to goal assignment and trajectory planning for unlabeled robots operating in 2D, obstacle-filled workspaces. More specifically, we tackle the unlabeled multi-robot motion planning problem with…
We show that the Minimal Length-Bounded L-But problem can be computed in linear time with respect to L and the tree-width of the input graph as parameters. In this problem the task is to find a set of edges of a graph such that after…
We study the problem of multi-robot active mapping, which aims for complete scene map construction in minimum time steps. The key to this problem lies in the goal position estimation to enable more efficient robot movements. Previous…
Existing research on single-machine scheduling is largely focused on exact algorithms, which perform well on typical instances but can significantly deteriorate on certain regions of the problem space. In contrast, data-driven approaches…
Let $G$ be a graph such that each vertex has its list of available colors, and assume that each list is a subset of the common set consisting of $k$ colors. For two given list colorings of $G$, we study the problem of transforming one into…
We consider the following natural graph cut problem called Critical Node Cut (CNC): Given a graph $G$ on $n$ vertices, and two positive integers $k$ and $x$, determine whether $G$ has a set of $k$ vertices whose removal leaves $G$ with at…
In this work, we systematically examine the application of spatio-temporal splitting heuristics to the Multi-Robot Motion Planning (MRMP) problem in a graph-theoretic setting: a problem known to be NP-hard to optimally solve. Following the…
This paper presents a Genetic Programming (GP) approach to solving multi-robot path planning (MRPP) problems in single-lane workspaces, specifically those easily mapped to graph representations. GP's versatility enables this approach to…
The sum of radii problem ($k$-MSR) asks, given a metric space on $n$ points, to place $k$ balls covering all points so as to minimize the sum of their radii. Despite extensive study from the perspectives of approximation and parameterized…
We develop a framework for applying treewidth-based dynamic programming on graphs with "hybrid structure", i.e., with parts that may not have small treewidth but instead possess other structural properties. Informally, this is achieved by…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
In task and motion planning (TAMP), the ambiguity and underdetermination of abstract descriptions used by task planning methods make it difficult to characterize physical constraints needed to successfully execute a task. The usual approach…
In this paper, we consider the parameterized quantum query complexity for graph problems. We design parameterized quantum query algorithms for $k$-vertex cover and $k$-matching problems, and present lower bounds on the parameterized quantum…
In the Disjoint Paths problem, the input consists of an $n$-vertex graph $G$ and a collection of $k$ vertex pairs, $\{(s_i,t_i)\}_{i=1}^k$, and the objective is to determine whether there exists a collection $\{P_i\}_{i=1}^k$ of $k$…
Path planning for multiple robots (MRPP) represents a task of finding non-colliding paths for robots through which they can navigate from their initial positions to specified goal positions. The problem is usually modeled using undirected…