Related papers: Parameterized Algorithms for Coordinated Motion Pl…
We give a fixed-parameter tractable algorithm that, given a parameter $k$ and two graphs $G_1,G_2$, either concludes that one of these graphs has treewidth at least $k$, or determines whether $G_1$ and $G_2$ are isomorphic. The running time…
We consider the problem of finding a 1-planar drawing for a general graph, where a 1-planar drawing is a drawing in which each edge participates in at most one crossing. Since this problem is known to be NP-hard we investigate the…
In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
In this paper we develop theory of sequential parametrized motion planning which generalises the approach of parametrized motion planning, which was introduced recently in [3]. A sequential parametrized motion planning algorithm produced a…
We consider here the MultiBot problem for the scheduling and the resource parametrization of jobs related to the production or the transportation of different products inside a given time horizon. Those jobs must meet known in advance…
In this work, we initiate a thorough study of parameterized graph optimization problems in the distributed setting. In a parameterized problem, an algorithm decides whether a solution of size bounded by a \emph{parameter} $k$ exists and if…
We propose a fixed-parameter tractable algorithm for the \textsc{Max-Cut} problem on embedded 1-planar graphs parameterized by the crossing number $k$ of the given embedding. A graph is called 1-planar if it can be drawn in the plane with…
We study a variant of Min Cost Flow in which the flow needs to be connected. Specifically, in the Connected Flow problem one is given a directed graph $G$, along with a set of demand vertices $D \subseteq V(G)$ with demands $\mathsf{dem}: D…
Parameterized complexity seeks to use input structure to obtain faster algorithms for NP-hard problems. This has been most successful for graphs of low treewidth: Many problems admit fast algorithms relative to treewidth and many of them…
In this paper, we study the problem of optimal multi-robot path planning (MPP) on graphs. We propose two multiflow based integer linear programming (ILP) models that computes minimum last arrival time and minimum total distance solutions…
Mobile robots, especially unmanned aerial vehicles (UAVs), are of increasing interest for surveillance and disaster response scenarios. We consider the problem of multi-robot persistent surveillance with connectivity constraints where…
This paper presents a novel algorithm for robot task and motion planning (TAMP) problems by utilizing a reachability tree. While tree-based algorithms are known for their speed and simplicity in motion planning (MP), they are not…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
Multi-robot motion planning (MRMP) is the fundamental problem of finding non-colliding trajectories for multiple robots acting in an environment, under kinodynamic constraints. Due to its complexity, existing algorithms either utilize…
Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…
Dynamic programming over tree decompositions is a common technique in parameterized algorithms. In this paper, we study whether this technique can also be applied to compute Pareto sets of multiobjective optimization problems. We first…
Planning problems are hard, motion planning, for example, isPSPACE-hard. Such problems are even more difficult in the presence of uncertainty. Although, Markov Decision Processes (MDPs) provide a formal framework for such problems, finding…
We study the parameterized complexity of a broad class of problems called "local graph partitioning problems" that includes the classical fixed cardinality problems as max k-vertex cover, k-densest subgraph, etc. By developing a technique…
We introduce a general method for obtaining fixed-parameter algorithms for problems about finding paths in undirected graphs, where the length of the path could be unbounded in the parameter. The first application of our method is as…