Related papers: Coverage Path Planning For Minimizing Expected Tim…
Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capabilities. It takes time for the robot to move between…
In this paper, we propose a deterministic algorithm that approximates the optimal path cover on weighted undirected graphs. Based on the 1/2-Approximation Path Cover Algorithm by Moran et al., we add a procedure to remove the redundant…
We study approximation algorithms for the forest cover and bounded forest cover problems. A probabilistic $2+\epsilon$ approximation algorithm for the forest cover problem is given using the method of dual fitting. A deterministic algorithm…
Due to urbanization and the increase of individual mobility, in most metropolitan areas around the world congestion and inefficient traffic management occur. Highly necessary intelligent traffic control systems, which are able to reduce…
In this paper we propose a periodic solution to the problem of persistently covering a finite set of interest points with a group of autonomous mobile agents. These agents visit periodically the points and spend some time carrying out the…
The quadratic shortest path problem is the problem of finding a path in a directed graph such that the sum of interaction costs over all pairs of arcs on the path is minimized. We derive several semidefinite programming relaxations for the…
There exist many variants of guarding an orthogonal polygon in an orthogonal fashion: sometimes a guard can see an entire rectangle, or along a staircase, or along an orthogonal path with at most $k$ bends. In this paper, we study all these…
In this paper, we study the Maximum Profit Pick-up Problem with Time Windows and Capacity Constraint (MP-PPTWC). Our main results are 3 polynomial time algorithms, all having constant approximation factors. The first algorithm has an…
Motion planning problems can be simplified by admissible projections of the configuration space to sequences of lower-dimensional quotient-spaces, called sequential simplifications. To exploit sequential simplifications, we present the…
Autonomous agents face the challenge of coordinating multiple tasks (perception, motion planning, controller) which are computationally expensive on a single onboard computer. To utilize the onboard processing capacity optimally, it is…
Motion planning problems often have many local minima. Those minima are important to visualize to let a user guide, prevent or predict motions. Towards this goal, we develop the motion planning explorer, an algorithm to let users…
We consider the stochastic geometry model where the location of each node is a random point in a given metric space, or the existence of each node is uncertain. We study the problems of computing the expected lengths of several…
A rigorous runtime analysis of evolutionary multi-objective optimization for the classical vertex cover problem in the context of parameterized complexity analysis has been presented by Kratsch and Neumann (2013). In this paper, we extend…
The notion of the cover is a generalization of a period of a string, and there are linear time algorithms for finding the shortest cover. The seed is a more complicated generalization of periodicity, it is a cover of a superstring of a…
We study the minimum \emph{Monitoring Edge Geodetic Set} (\megset) problem introduced in [Foucaud et al., CALDAM'23]: given a graph $G$, we say that an edge is monitored by a pair $u,v$ of vertices if \emph{all} shortest paths between $u$…
We study the problem of planning the deployments of a group of mobile robots. While the problem and formulation can be used for many different problems, here we use a bridge inspection as the motivating application for the purpose of…
We consider the rooted prize-collecting walks (PCW) problem, wherein we seek a collection $C$ of rooted walks having minimum prize-collecting cost, which is the (total cost of walks in $C$) + (total node-reward of nodes not visited by any…
Picking a specific object from clutter is an essential component of many manipulation tasks. Partial observations often require the robot to collect additional views of the scene before attempting a grasp. This paper proposes a closed-loop…
We study a scenario for route planning in road networks, where the objective to be optimized may change between every shortest path query. Since this invalidates many of the known speedup techniques for road networks that are based on…
Given a set of objects with durations (jobs) that cover a base region, can we schedule the jobs to maximize the duration the original region remains covered? We call this problem the sensor cover problem. This problem arises in the context…