Related papers: Heterogeneous Multi-Robot Graph Coverage with Prox…
In the PATH COVER problem, one asks to cover the vertices of a graph using the smallest possible number of (not necessarily disjoint) paths. While the variant where the paths need to be pairwise vertex-disjoint, which we call PATH…
The VertexCover problem is proven to be computationally hard in different ways: It is NP-complete to find an optimal solution and even NP-hard to find an approximation with reasonable factors. In contrast, recent experiments suggest that on…
The dispersion problem on graphs requires $k$ robots placed arbitrarily at the $n$ nodes of an anonymous graph, where $k \leq n$, to coordinate with each other to reach a final configuration in which each robot is at a distinct node of the…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
Increasing interest in integrating advanced robotics within manufacturing has spurred a renewed concentration in developing real-time scheduling solutions to coordinate human-robot collaboration in this environment. Traditionally, the…
It will be increasingly common for robots to operate in cluttered human-centered environments such as homes, workplaces, and hospitals, where the robot is often tasked to maintain perception constraints, such as monitoring people or…
We investigate the problem of multi-robot coordinated planning in environments where the robots may have to operate in close proximity to each other. We seek computationally efficient planners that ensure safe paths and adherence to…
In the context of algorithm theory, various studies have been conducted on spanning trees with desirable properties. In this paper, we consider the \textsc{Minimum Cover Spanning Tree} problem (MCST for short). Given a graph $G$ and a…
With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…
We study the problem of optimally inspecting an underground (underwater) gallery with k agents. We consider a gallery with a single opening and with a tree topology rooted at the opening. Due to the small diameter of the pipes (caves), the…
Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…
We consider a scenario consisting of a set of heterogeneous mobile agents located at a depot, and a set of tasks dispersed over a geographic area. The agents are partitioned into different types. The tasks are partitioned into specialized…
In the pattern formation problem, robots in a system must self-coordinate to form a given pattern, regardless of translation, rotation, uniform-scaling, and/or reflection. In other words, a valid final configuration of the system is a…
We investigate semi-streaming algorithms for the Traveling Salesman Problem (TSP). Specifically, we focus on a variant known as the $(1,2)$-TSP, where the distances between any two vertices are either one or two. Our primary emphasis is on…
Consider an agent exploring an unknown graph in search of some goal state. As it walks around the graph, it learns the nodes and their neighbors. The agent only knows where the goal state is when it reaches it. How do we reach this goal…
Maintaining a robust communication network plays an important role in the success of a multi-robot team jointly performing an optimization task. A key characteristic of a robust multi-robot system is the ability to repair the communication…
Many robots move through the world by composing locomotion primitives like steps and turns. To do so well, robots need not have primitives that make intuitive sense to humans. This becomes of paramount importance when robots are damaged and…
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…
First, we study geometric variants of the standard set cover motivated by assignment of directional antenna and shipping with deadlines, providing the first known polynomial-time exact solutions. Next, we consider the following general…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…