Related papers: Coverage Path Planning For Minimizing Expected Tim…
Structural learning, a method to estimate the parameters for discrete energy minimization, has been proven to be effective in solving computer vision problems, especially in 3D scene parsing. As the complexity of the models increases,…
We describe an approach for segmenting an image into regions that correspond to surfaces in the scene that are partially surrounded by the medium. It integrates both appearance and motion statistics into a cost functional, that is seeded…
We investigate the problem of computing a minimum set of solutions that approximates within a specified accuracy $\epsilon$ the Pareto curve of a multiobjective optimization problem. We show that for a broad class of bi-objective problems…
This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…
Coverage path planning in a generic known environment is shown to be NP-hard. When the environment is unknown, it becomes more challenging as the robot is required to rely on its online map information built during coverage for planning its…
We consider optimal route planning when the objective function is a general nonlinear and non-monotonic function. Such an objective models user behavior more accurately, for example, when a user is risk-averse, or the utility function needs…
We study the sample placement and shortest tour problem for robots tasked with mapping environmental phenomena modeled as stationary random fields. The objective is to minimize the resources used (samples or tour length) while guaranteeing…
Autonomous robots for gathering information on objects of interest has numerous real-world applications because of they improve efficiency, performance and safety. Realizing autonomy demands online planning algorithms to solve sequential…
One of the most popular approaches to multi-target tracking is tracking-by-detection. Current min-cost flow algorithms which solve the data association problem optimally have three main drawbacks: they are computationally expensive, they…
We consider the problem of maximizing the lifetime of coverage (MLCP) of targets in a wireless sensor network with battery-limited sensors. We first show that the MLCP cannot be approximated within a factor less than $\ln n$ by any…
Executing quantum circuits on currently available quantum computers requires compiling them to a representation that conforms to all restrictions imposed by the targeted architecture. Due to the limited connectivity of the devices' physical…
In this paper, we tackle the problem of planning an optimal coverage path for a robot operating indoors. Many existing approaches attempt to discourage turns in the path by covering the environment along the least number of coverage lines,…
The problem of minimizing the number of bidirectional SONET rings required to support a given traffic demand has been studied by several researchers. Here we study the related ``ring grooming problem'' of minimizing the number of add/drop…
Optimization problems with drones are widely studied in a variety of civilian tasks, mainly due to their ability to traverse rough terrains and to carry cameras and other sensors for surveillance tasks. The limited battery life of these…
Rapidly-exploring random tree (RRT) has been applied for autonomous parking due to quickly solving high-dimensional motion planning and easily reflecting constraints. However, planning time increases by the low probability of extending…
Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for…
We consider a generalization of the classical planar maximum coverage location problem (PMCLP) in which partial coverage is allowed, facilities have adjustable quality of service (QoS) or service range, and demand zones and service zone of…
The current driver nodes search methods are difficult to cope with large networks, and the solution process does not consider the node cost. In order to solve the practical control problem of networks with different node costs in finite…
In the realm of programmable photonic integrated circuits (PICs), precise wire length control is crucial for the performance of on-chip programmable components such as optical ring resonators, Mach-Zehnder interferometers, and optical true…
We consider the problem of detecting objects, as they come into view, from videos in an online fashion. We provide the first real-time solution that is guaranteed to minimize the delay, i.e., the time between when the object comes in view…