Related papers: Parameterized Algorithms for Coordinated Motion Pl…
We propose a novel method for multi-objective motion planning problems by leveraging the paradigm of lexicographic optimization and applying it for the first time to graph search over probabilistic roadmaps. The competing resources of…
Finding a Steiner strongly $k$-arc-connected orientation is particularly relevant in network design and reliability, as it guarantees robust communication between a designated set of critical nodes. Kir\'aly and Lau (FOCS 2006) introduced a…
We obtain new parameterized algorithms for the classical problem of determining whether a directed acyclic graph admits an upward planar drawing. Our results include a new fixed-parameter algorithm parameterized by the number of sources, an…
The Max-Cut problem is known to be NP-hard on general graphs, while it can be solved in polynomial time on planar graphs. In this paper, we present a fixed-parameter tractable algorithm for the problem on `almost' planar graphs: Given an…
Motivated by the increasing need for fast processing of large-scale graphs, we study a number of fundamental graph problems in a message-passing model for distributed computing, called $k$-machine model, where we have $k$ machines that…
We study the linearizability monitoring problem, which asks whether a given concurrent history of a data structure is equivalent to some sequential execution of the same data structure. In general, this problem is $\textsf{NP}$-hard, even…
Sampling-based motion planning techniques have emerged as an efficient algorithmic paradigm for solving complex motion planning problems. These approaches use a set of probing samples to construct an implicit graph representation of the…
Traditional multi-robot motion planning (MMP) focuses on computing trajectories for multiple robots acting in an environment, such that the robots do not collide when the trajectories are taken simultaneously. In safety-critical…
We consider two matrix completion problems, in which we are given a matrix with missing entries and the task is to complete the matrix in a way that (1) minimizes the rank, or (2) minimizes the number of distinct rows. We study the…
Robots operate under significant uncertainty, from quantifiable noise to unquantifiable unknowns, and must account for strict operational constraints, such as limited resources. In this paper, we consider the problem of synthesizing robust…
Motion planning under differential constraints is a classic problem in robotics. To date, the state of the art is represented by sampling-based techniques, with the Rapidly-exploring Random Tree algorithm as a leading example. Yet, the…
A crucial challenge arising in the design of large-scale logistical networks is to optimize parcel sortation for routing. We study this problem under the recent graph-theoretic formalization of Van Dyk, Klause, Koenemann and Megow (IPCO…
We consider a the minimum k-way cut problem for unweighted graphs with a size bound s on the number of cut edges allowed. Thus we seek to remove as few edges as possible so as to split a graph into k components, or report that this requires…
We consider a class of linear programs on graphs with total variation regularization and a budgetary constraint. For these programs, we give a characterization of basic solutions in terms of rooted spanning forests with orientation on the…
An underlying structure in several sampling-based methods for continuous multi-robot motion planning (MRMP) is the tensor roadmap (TR), which emerges from combining multiple PRM graphs constructed for the individual robots via a tensor…
Machine scheduling problems are a long-time key domain of algorithms and complexity research. A novel approach to machine scheduling problems are fixed-parameter algorithms. To stimulate this thriving research direction, we propose 15 open…
The goal of robust motion planning consists of designing open-loop controls which optimally steer a system to a specific target region while mitigating uncertainties and disturbances which affect the dynamics. Recently, stochastic optimal…
During the last decade, sampling-based path planning algorithms, such as Probabilistic RoadMaps (PRM) and Rapidly-exploring Random Trees (RRT), have been shown to work well in practice and possess theoretical guarantees such as…
We consider the problem of collectively delivering some message from a specified source to a designated target location in a graph, using multiple mobile agents. Each agent has a limited energy which constrains the distance it can move.…
We consider the graph $k$-partitioning problem under the min-max objective, termed as Minmax $k$-cut. The input here is a graph $G=(V,E)$ with non-negative edge weights $w:E\rightarrow \mathbb{R}_+$ and an integer $k\geq 2$ and the goal is…