Related papers: Multirobot Watchman Routes in a Simple Polygon
A new characterization of Hamiltonian graphs using f-cutset matrix is proposed. Based on this new characterization, a new exact polynomial time algorithm for the traveling salesman problem (TSP) is developed. We then define the so-called…
In the Euclidean TSP with neighborhoods (TSPN), we are given a collection of $n$ regions (neighborhoods) and we seek a shortest tour that visits each region. In the path variant, we seek a shortest path that visits each region. We present…
Two multivehicle routing problems are considered in the framework that a visit to a location must take place during a specific time window in order to be counted and all time windows are the same length. In the first problem, the goal is to…
The subject of this work is the patrolling of an environment with the aid of a team of autonomous agents. We consider both the design of open-loop trajectories with optimal properties, and of distributed control laws converging to optimal…
A common sensing problem is to use a set of stationary tracking locations to monitor a collection of moving devices: Given $n$ objects that need to be tracked, each following its own trajectory, and $m$ stationary traffic control stations,…
The problem of finding multiple simple shortest paths in a weighted directed graph $G=(V,E)$ has many applications, and is considerably more difficult than the corresponding problem when cycles are allowed in the paths. Even for a single…
This study investigates the problem of traveling salesman problem with circular neighborhood (TSPCN). Instead of cities there are circles and each point on circle can be a potential visiting node. The problem is to find the minimum length…
Given an $x$-monotone polygonal chain $T$ with $n$ vertices, and an integer $k$, we consider the problem of finding the lowest horizontal line $L$ lying above $T$ with $k$ point guards lying on $L$, so that every point on the chain is…
This paper introduces a novel $k$-cell decomposition method for pursuit-evasion problems in polygonal environments, where a searcher is equipped with a $k$-modem: a device capable of seeing through up to $k$ walls. The proposed…
We consider the following problem: Given a finite set of straight line segments in the plane, determine the positions of a minimal number of points on the segments, from which guards can see all segments. This problem can be interpreted as…
We present an algorithm to find an {\it Euclidean Shortest Path} from a source vertex $s$ to a sink vertex $t$ in the presence of obstacles in $\Re^2$. Our algorithm takes $O(T+m(\lg{m})(\lg{n}))$ time and $O(n)$ space. Here, $O(T)$ is the…
In this paper we consider a robot patrolling problem in which events arrive randomly over time at the vertices of a graph. When an event arrives it remains active for a random amount of time. If that time active exceeds a certain threshold,…
We study the {\em $k$-route} generalizations of various cut problems, the most general of which is \emph{$k$-route multicut} ($k$-MC) problem, wherein we have $r$ source-sink pairs and the goal is to delete a minimum-cost set of edges to…
The Traveling Salesman Problem (TSP) is among the most famous NP-hard optimization problems. We design for this problem a randomized polynomial-time algorithm that computes a (1+eps)-approximation to the optimal tour, for any fixed eps>0,…
The disjoint paths problem is a fundamental problem in algorithmic graph theory and combinatorial optimization. For a given graph $G$ and a set of $k$ pairs of terminals in $G$, it asks for the existence of $k$ vertex-disjoint paths…
We study various versions of the problem of scheduling platoons of autonomous vehicles through an unregulated intersection, where an algorithm must schedule which platoons should wait so that others can go through, so as to minimize the…
This paper studies the fundamental problem of how to reroute $k$ unsplittable flows of a certain demand in a capacitated network from their current paths to their respective new paths, in a congestion-free manner and fast. This scheduling…
We perform an experimental evaluation of algorithms for finding geodesic shortest paths between two points inside a simple polygon in the constant-workspace model. In this model, the input resides in a read-only array that can be accessed…
This paper gives an introduction to the problem of mapping simple polygons with autonomous agents. We focus on minimalistic agents that move from vertex to vertex along straight lines inside a polygon, using their sensors to gather local…
Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…