Related papers: Geometric Freeze-Tag Problem
We consider min-max $r$-gather clustering problem and min-max $r$-gathering problem. In the min-max $r$-gather clustering problem, we are given a set of users and divide them into clusters with size at least $r$; the goal is to minimize the…
This paper presents an optimization-based solution to task and motion planning (TAMP) on mobile manipulators. Logic-geometric programming (LGP) has shown promising capabilities for optimally dealing with hybrid TAMP problems that involve…
We study the algorithmic problem of optimally covering a tree with $k$ mobile robots. The tree is known to all robots, and our goal is to assign a walk to each robot in such a way that the union of these walks covers the whole tree. We…
This paper introduces the \emph{$d$-distance matching problem}, in which we are given a bipartite graph $G=(S,T;E)$ with $S=\{s_1,\dots,s_n\}$, a weight function on the edges and an integer $d\in\mathbb Z_+$. The goal is to find a maximum…
The labeled MRPP (Multi-Robot Path Planning) problem involves routing robots from start to goal configurations efficiently while avoiding collisions. Despite progress in solution quality and runtime, its complexity and industrial relevance…
Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent…
We study a primitive vehicle routing-type problem in which a fleet of $n$unit speed robots start from a point within a non-obtuse triangle $\Delta$, where $n \in \{1,2,3\}$. The goal is to design robots' trajectories so as to visit all…
We revisit the problem of missing tag identification in RFID networks by making three contributions. Firstly, we quantitatively compare and gauge the existing propositions spanning over a decade on missing tag identification. We show that…
A well-studied continuous model of graphs considers each edge as a continuous unit-length interval of points. In the problem $\delta$-Tour defined within this model, the objective to find a shortest tour that comes within a distance of…
The trapping problem on graph (or network) as a typical focus of great interest has attracted more attention from various science fields, including applied mathematics and theoretical computer science, in the past. Here, we first study this…
We study computationally-hard fundamental motion planning problems where the goal is to translate $k$ axis-aligned rectangular robots from their initial positions to their final positions without collision, and with the minimum number of…
Adjiashvili introduced network design in a non-uniform fault model: the edge set of a given graph is partitioned into safe and unsafe edges. A vertex pair $(s,t)$ is $(p,q)$-flex-connected if $s$ and $t$ have $p$ edge-connectivity even…
We consider the {\em MST-interdiction} problem: given a multigraph $G = (V, E)$, edge weights $\{w_e\geq 0\}_{e \in E}$, interdiction costs $\{c_e\geq 0\}_{e \in E}$, and an interdiction budget $B\geq 0$, the goal is to remove a set…
The Firefighting problem is defined as follows. At time $t=0$, a fire breaks out at a vertex of a graph. At each time step $t \geq 0$, a firefighter permanently defends (protects) an unburned vertex, and the fire then spread to all…
The All-Pairs Shortest Paths (APSP) problem is one of the fundamental problems in theoretical computer science. It asks to compute the distance matrix of a given $n$-vertex graph. We revisit the classical problem of maintaining the distance…
The Forest Augmentation Problem (FAP) asks for a minimum set of additional edges (links) that make a given forest 2-edge-connected while spanning all vertices. A key special case is the Path Augmentation Problem (PAP), where the input…
We consider the min-max $r$-gathering problem described as follows: We are given a set of users and facilities in a metric space. We open some of the facilities and assign each user to an opened facility such that each facility has at least…
What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in corresponding HRC standards (e.g., ISO/TS 15066). The regime that allows collisions between the moving robot and the operator,…
A gaze-fixating robot perceives distance to the fixated object and relative positions of surrounding objects immediately, accurately, and robustly. We show how fixation, which is the act of looking at one object while moving, exploits…
Given a set of $n\geq 1$ autonomous, anonymous, indistinguishable, silent, and possibly disoriented mobile unit disk (i.e., fat) robots operating following Look-Compute-Move cycles in the Euclidean plane, we consider the Pattern Formation…