Related papers: Geometric Freeze-Tag Problem
In this paper we consider a robot patrolling problem in which events arrive randomly over time at the vertices of a graph. When an event arrives it remains active for a random amount of time. If that time active exceeds a certain threshold,…
Our work is motivated by the challenges presented in preparing arrays of atoms for use in quantum simulation. The recently-developed process of loading atoms into traps results in approximately half of the traps being filled. To consolidate…
The Traveling Salesman Problem (TSP) is a classic and extensively studied problem with numerous real-world applications in artificial intelligence and operations research. It is well-known that TSP admits a constant approximation ratio on…
In the Rectangle Stabbing problem, input is a set ${\cal R}$ of axis-parallel rectangles and a set ${\cal L}$ of axis parallel lines in the plane. The task is to find a minimum size set ${\cal L}^* \subseteq {\cal L}$ such that for every…
Artificial electronic skins covering complete robot bodies can make physical human-robot collaboration safe and hence possible. Standards for collaborative robots (e.g., ISO/TS 15066) prescribe permissible forces and pressures during…
We consider the problem of reconfiguring a two-dimensional connected grid arrangement of passive building blocks from a start configuration to a goal configuration, using a single active robot that can move on the tiles, remove individual…
In this paper, we revisit the classic approximate All-Pairs Shortest Paths (APSP) problem in undirected graphs. For unweighted graphs, we provide an algorithm for $2$-approximate APSP in $\tilde O(n^{2.5-r}+n^{\omega(r)})$ time, for any…
Radio Frequency Identification (RFID) is a widely used technology for identifying and locating objects equipped with low-cost RFID transponders (tags). UHF (Ultra High Frequency) RFID operates in frequency bands around 900 MHz and supports…
In this paper, we study the problem of maximizing a monotone normalized one-sided $\sigma$-smooth ($OSS$ for short) function $F(x)$, subject to a convex polytope. This problem was first introduced by Mehrdad et al. \cite{GSS2021} to…
We investigate multiple fundamental variants of the classic coordinated motion planning (CMP) problem for unit square robots in the plane under the $L_1$ metric. In coordinated motion planning, we are given two arrangements of $k$ robots…
For a given graph $G$, a "hopset" $H$ with hopbound $\beta$ and stretch $\alpha$ is a set of edges such that between every pair of vertices $u$ and $v$, there is a path with at most $\beta$ hops in $G \cup H$ that approximates the distance…
In this paper we study multi-robot path planning for persistent monitoring tasks. We consider the case where robots have a limited battery capacity with a discharge time $D$. We represent the areas to be monitored as the vertices of a…
This paper addresses the challenge of safe navigation for rigid-body mobile robots in dynamic environments. We introduce an analytic approach to compute the distance between a polygon and an ellipse, and employ it to construct a control…
The $(\kappa,\ell)$-edge-inducibility problem asks for the maximum number of $\kappa$-subsets inducing exactly $\ell$ edges that a graph of given order $n$ can have. Using flag algebras and stability approach, we resolve this problem for…
Task-oriented grasping (TOG), which refers to synthesizing grasps on an object that are configurationally compatible with the downstream manipulation task, is the first milestone towards tool manipulation. Analogous to the activation of two…
Autonomous service robots share social spaces with humans, usually working together for domestic or professional tasks. Cyber security breaches in such robots undermine the trust between humans and robots. In this paper, we investigate how…
We present object handling and transporting by a multi-robot team with a deformable sheet as a carrier. Due to the deformability of the sheet and the high dimension of the whole system, it is challenging to clearly describe all the possible…
While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present an efficient motion planning framework for simultaneously…
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…
In this article, we propose a new method for solving the interval fixed charge transportation problem (IFCTP), wherein the parameters (associated cost, fixed cost, supply, and demand) are represented by interval numbers. First, an…