Related papers: Coverage Path Planning For Minimizing Expected Tim…
Constant-factor, polynomial-time approximation algorithms are presented for two variations of the traveling salesman problem with time windows. In the first variation, the traveling repairman problem, the goal is to find a tour that visits…
We study graph ordering problems with a min-max objective. A classical problem of this type is cutwidth, where given a graph we want to order its vertices such that the number of edges crossing any point is minimized. We give a $…
Minimum vertex cover problem is an NP-Hard problem with the aim of finding minimum number of vertices to cover graph. In this paper, a learning automaton based algorithm is proposed to find minimum vertex cover in graph. In the proposed…
Constrained Optimum Path (COP) problems appear in many real-life applications, especially on communication networks. Some of these problems have been considered and solved by specific techniques which are usually difficult to extend. In…
When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…
In this paper, we consider the problem of planning a path for a robot to monitor a known set of features of interest in an environment. We represent the environment as a graph with vertex weights and edge lengths. The vertices represent…
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,…
Problem of finding 2D paths of special shape, e.g. paths comprised of line segments having the property that the angle between any two consecutive segments does not exceed the predefined threshold, is considered in the paper. This problem…
We study the problem of allocating many mobile robots for the execution of a pre-defined sweep schedule in a known two-dimensional environment, with applications toward search and rescue, coverage, surveillance, monitoring, pursuit-evasion,…
We propose an algorithmic framework for efficient anytime motion planning on large dense geometric roadmaps, in domains where collision checks and therefore edge evaluations are computationally expensive. A large dense roadmap (graph) can…
The two-watchman route problem is that of computing a pair of closed tours in an environment so that the two tours together see the whole environment and some length measure on the two tours is minimized. Two standard measures are: the…
Low cost robots, such as vacuum cleaners or lawn mowers employ simplistic and often random navigation policies. Although a large number of sophisticated mapping and planning approaches exist, they require additional sensors like LIDAR…
Sensor networks are particularly applicable to the tracking of objects in motion. For such applications, it may not necessary that the whole region be covered by sensors as long as the uncovered region is not too large. This notion has been…
This paper explores minimum sensing navigation of robots in environments cluttered with obstacles. The general objective is to find a path plan to a goal region that requires minimal sensing effort. In [1], the information-geometric RRT*…
We give the first algorithmic study of a class of ``covering tour'' problems related to the geometric Traveling Salesman Problem: Find a polygonal tour for a cutter so that it sweeps out a specified region (``pocket''), in order to minimize…
Approximate nearest-neighbor search is a fundamental algorithmic problem that continues to inspire study due its essential role in numerous contexts. In contrast to most prior work, which has focused on point sets, we consider…
Electronic Phased-Array Radars offer new possibilities for Optimization of Radar Search Pattern by using bi-dimensional beam forming and beam steering, along both elevation and azimuth axes. The minimization of the Time-Budget required for…
In this paper, we consider the problem of generating inspection paths for robots. These paths should allow an attached measurement device to perform high-quality measurements. We formally show that generating robot paths, while maximizing…
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…
In this study, we propose an algorithmic framework for solving a class of optimal control problems. This class is associated with the minimum-time interception of moving target problems, where a plant with a given state equation must…