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Searching for a line on the plane with $n$ unit speed robots is a classic online problem that dates back to the 50's, and for which competitive ratio upper bounds are known for every $n\geq 1$. In this work we improve the best lower bound…
In this work we consider the multi-agent motion planning (MAMP) problem with the constraint that agents arrive at their respective goals at the same time. For the special case where all agents are initially at rest we propose a two-step…
In this paper, we plan missions for a fleet of agents in undirected graphs, such as grids, with multiple goals. In contrast to regular multi-agent path-finding, the solver finds and updates the assignment of goals to the agents on its own.…
There has been a growing interest in anomaly detection problems recently, whilst their focuses are mostly on anomalies taking place on the time index. In this work, we investigate a new anomaly-in-mean problem in multidimensional spatial…
$\delta$-Covering, for some covering range $\delta>0$, is a continuous facility location problem on undirected graphs where all edges have unit length. The facilities may be positioned on the vertices as well as on the interior of the…
Numerous approximation algorithms for problems on unit disk graphs have been proposed in the literature, exhibiting a sharp trade-off between running times and approximation ratios. We introduce a variation of the known shifting strategy…
We introduce and study the Marco Polo problem, which is a combinatorial approach to geometric localization. In this problem, we are told there are one or more points of interest (POIs) within distance $n$ of the origin that we wish to…
In multi-agent applications such as surveillance and logistics, fleets of mobile agents are often expected to coordinate and safely visit a large number of goal locations as efficiently as possible. The multi-agent planning problem in these…
Sampling-based motion planners have proven to be efficient solutions to a variety of high-dimensional, geometrically complex motion planning problems with applications in several domains. The traditional view of these approaches is that…
We investigate a combinatorial optimization problem that involves patrolling the edges of an acute triangle using a unit-speed agent. The goal is to minimize the maximum (1-gap) idle time of any edge, which is defined as the time gap…
We consider the rooted orienteering problem in Euclidean space: Given $n$ points $P$ in $\mathbb R^d$, a root point $s\in P$ and a budget $\mathcal B>0$, find a path that starts from $s$, has total length at most $\mathcal B$, and visits as…
We propose a novel method for planning shortest length piecewise-linear motions through complex environments punctured with static, moving, or even morphing obstacles. Using a moment optimization approach, we formulate a hierarchy of…
We consider the task of allocating indivisible items to agents, when the agents' preferences over the items are identical. The preferences are captured by means of a directed acyclic graph, with vertices representing items and an edge…
We introduce optimal algorithms for the problems of data placement (DP) and page placement (PP) in networks with a constant number of clients each of which has limited storage availability and issues requests for data objects. The objective…
We consider the problem of controlling the movement of multiple cooperating agents so as to minimize an uncertainty metric associated with a finite number of targets. In a one-dimensional mission space, we adopt an optimal control framework…
We consider an Anonymous Multi-Agent Path-Finding (AMAPF) problem where the set of agents is confined to a graph, a set of goal vertices is given and each of these vertices has to be reached by some agent. The problem is to find an…
We study several variations of line segment covering problem with axis-parallel unit squares in $I\!\!R^2$. A set $S$ of $n$ line segments is given. The objective is to find the minimum number of axis-parallel unit squares which cover at…
The problem of finding conflict-free trajectories for multiple agents of identical circular shape, operating in shared 2D workspace, is addressed in the paper and decoupled, e.g., prioritized, approach is used to solve this problem. Agents'…
We study a continuous facility location problem on a graph where all edges have unit length and where the facilities may also be positioned in the interior of the edges. The goal is to position as many facilities as possible subject to the…
In routing games, agents pick their routes through a network to minimize their own delay. A primary concern for the network designer in routing games is the average agent delay at equilibrium. A number of methods to control this average…