Related papers: Coverage Path Planning For Minimizing Expected Tim…
In this paper, we study a navigation problem where a mobile robot needs to locate a mmWave wireless signal. Using the directionality properties of the signal, we propose an estimation and path planning algorithm that can efficiently…
We consider the following general scheduling problem: The input consists of n jobs, each with an arbitrary release time, size, and a monotone function specifying the cost incurred when the job is completed at a particular time. The…
In this paper, we consider the 1.5-dimensional orthogonal terrain guarding problem. In this problem, we assign an x-monotone chain T because each edge is either horizontal or vertical, and determine the minimal number of vertex guards for…
This paper investigates the problem of computing a two-dimensional optimal curvature straight line (CS) shortest path for an unmanned aerial vehicle (UAV) to intercept a moving target, with both the UAV (pursuer) and target travelling at…
Wireless sensor networks consisting of great number of cheap and tiny sensor nodes which are used for military environment controlling, natural events recording, traffic monitoring, robot navigation, and etc. Such a networks encounter with…
The linear search problem, informally known as the cow path problem, is one of the fundamental problems in search theory. In this problem, an immobile target is hidden at some unknown position on an unbounded line, and a mobile searcher,…
The paper deals with the adaptation of a new measure for the unsupervised feature selection problems. The proposed measure is based on space filling concept and is called the coverage measure. This measure was used for judging the quality…
We provide a general framework for getting expected linear time constant factor approximations (and in many cases FPTASs) to several well-known problems in Computational Geometry, such as $k$-center clustering and farthest nearest neighbor.…
In this paper, we study two classic optimization problems: minimum geometric dominating set and set cover. In the dominating-set problem, for a given set of objects in {the} plane as input, the objective is to choose a minimum number of…
An autonomous robot with a limited vision range finds a path to the goal in an unknown environment in 2D avoiding polygonal obstacles. In the process of discovering the environmental map, the robot has to return to some positions marked…
In the first part of the paper, we present an (1+\mu)-approximation algorithm to the minimum-spanning tree of points in a planar arrangement of lines, where the metric is the number of crossings between the spanning tree and the lines. The…
Motivated by the increasing appeal of robots in information-gathering missions, we study multi-agent path planning problems in which the agents must remain interconnected. We model an area by a topological graph specifying the movement and…
We study the minimum connected sensor cover problem (MIN-CSC) and the budgeted connected sensor cover (Budgeted-CSC) problem, both motivated by important applications (e.g., reduce the communication cost among sensors) in wireless sensor…
The paper is concerned with elongating the shortest curvature-bounded path between two oriented points to an expected length. The elongation of curvature-bounded paths to an expected length is fundamentally important to plan missions for…
The aim of this paper is to present a new method of approximation of planar data set using only arcs or segments. The first problem we are trying to solve is the following: the CNC machines can work only with simple curves (arcs or…
In this paper, we study a dynamic pickup and delivery problem with docking constraints. There is a homogeneous fleet of vehicles to serve pickup-and-delivery requests at given locations. The vehicles can be loaded up to their capacity,…
It is essential for a robot to be able to detect revisits or loop closures for long-term visual navigation.A key insight explored in this work is that the loop-closing event inherently occurs sparsely, that is, the image currently being…
Coverage Path Planning involves visiting every unoccupied state in an environment with obstacles. In this paper, we explore this problem in environments which are initially unknown to the agent, for purposes of simulating the task of a…
Collision checking is a computational bottleneck in motion planning, requiring lazy algorithms that explicitly reason about when to perform this computation. Optimism in the face of collision uncertainty minimizes the number of checks…
While the shortest path problem has myriad applications, the computational efficiency of suitable algorithms depends intimately on the underlying problem domain. In this paper, we focus on domains where evaluating the edge weight function…