Related papers: Disk and Partial Disk Inspection: Worst- to Averag…
Maximum independent set from a given set $D$ of unit disks intersecting a horizontal line can be solved in $O(n^2)$ time and $O(n^2)$ space. As a corollary, we design a factor 2 approximation algorithm for the maximum independent set…
We consider the Travelling Salesman Problem with Neighbourhoods (TSPN) on the Euclidean plane ($\mathbb{R}^2$) and present a Polynomial-Time Approximation Scheme (PTAS) when the neighbourhoods are parallel line segments with lengths between…
Visibility plays an important role for decision making in cluttered, uncertain environments. This paper considers the problem of identifying optimal hiding spots for an agent against line-of-sight detection by an adversary whose location is…
Given a tree, a set of pebbles initially stationed at some nodes of the tree, and a set of target nodes, the Unlabeled Pebble Motion on Trees problem (UPMT) asks to find a plan to move the pebbles one-at-a-time from the starting nodes to…
In many applications, including underwater robotics, the coverage problem requires an autonomous vehicle to systematically explore a defined area while minimizing redundancy and avoiding obstacles. This paper investigates coverage path…
We formalize the problem of multi-agent path finding with deadlines (MAPF-DL). The objective is to maximize the number of agents that can reach their given goal vertices from their given start vertices within a given deadline, without…
Multi-Agent Pathfinding (MAPF) is the problem of finding paths for multiple agents such that every agent reaches its goal and the agents do not collide. Most prior work on MAPF was on grids, assumed agents' actions have uniform duration,…
We investigate the problem of optimally observing a finite set of targets using a mobile agent over an infinite time horizon. The agent is tasked to move in a network-constrained structure to gather information so as to minimize the…
We introduce a fast, quasi-linear-time heuristic for the Close-Enough Traveling Salesman Problem (CETSP), a continuous generalization of the Euclidean TSP in which each target is a disk that must be intersected. The method adapts the…
Advancements in mathematical programming have made it possible to efficiently tackle large-scale real-world problems that were deemed intractable just a few decades ago. However, provably optimal solutions may not be accepted due to the…
The dispersion problem has been widely studied in computational geometry and facility location, and is closely related to the packing problem. The goal is to locate n points (e.g., facilities or persons) in a k-dimensional polytope, so that…
We address the problem of persistent monitoring, where a finite set of mobile agents has to persistently visit a finite set of targets. Each of these targets has an internal state that evolves with linear stochastic dynamics. The agents can…
We consider discrete dynamical systems of "ant-like" agents engaged in a sequence of pursuits on a graph environment. The agents emerge one by one at equal time intervals from a source vertex $s$ and pursue each other by greedily attempting…
We consider the uncapacitated facility location problem with (linear) penalty function and show that a modified JMS algorithm, combined with a randomized LP rounding technique due to Byrka-Aardal[1], Li[14] and Li et al.[16] yields 1.488…
We study an extensive class of movement minimization problems which arise from many practical scenarios but so far have little theoretical study. In general, these problems involve planning the coordinated motion of a collection of agents…
We address the problem of locating facilities on the $[0,1]$ interval based on reports from strategic agents. The cost of each agent is her distance to the closest facility, and the global objective is to minimize either the maximum cost of…
We study the problem of deterministically exploring an undirected and initially unknown graph with $n$ vertices either by a single agent equipped with a set of pebbles, or by a set of collaborating agents. The vertices of the graph are…
We study the classical problem introduced by R. Isaacs and S. Gal of minimizing the time to find a hidden point $H$ on a network $Q$ moving from a known starting point. Rather than adopting the traditional continuous unit speed path…
Simple heuristics often show a remarkable performance in practice for optimization problems. Worst-case analysis often falls short of explaining this performance. Because of this, "beyond worst-case analysis" of algorithms has recently…
This article proposes the first known algorithm that achieves a constant-factor approximation of the minimum length tour for a Dubins' vehicle through $n$ points on the plane. By Dubins' vehicle, we mean a vehicle constrained to move at…