Related papers: Geometric Freeze-Tag Problem
Robots such as autonomous vehicles and assistive manipulators are increasingly operating in dynamic environments and close physical proximity to people. In such scenarios, the robot can leverage a human motion predictor to predict their…
In this work, we introduce Fed-Span: \textit{\underline{fed}erated learning with \underline{span}ning aggregation over low Earth orbit (LEO) satellite constellations}. Fed-Span aims to address critical challenges inherent to distributed…
We initiate the study on fault-tolerant spanners in hypergraphs and develop fast algorithms for their constructions. A fault-tolerant (FT) spanner preserves approximate distances under network failures, often used in applications like…
We study the problem of assigning robots with actions to track targets. The objective is to optimize the robot team's tracking quality which can be defined as the reduction in the uncertainty of the targets' states. Specifically, we…
This paper presents a novel algorithm for robot task and motion planning (TAMP) problems by utilizing a reachability tree. While tree-based algorithms are known for their speed and simplicity in motion planning (MP), they are not…
We resolve several fundamental questions in the area of distributed functional monitoring, initiated by Cormode, Muthukrishnan, and Yi (SODA, 2008). In this model there are $k$ sites each tracking their input and communicating with a…
A set $Z$ of vertices of a graph $G$ is a zero forcing set of $G$ if initially labeling all vertices in $Z$ with $1$ and all remaining vertices of $G$ with $0$, and then, iteratively and as long as possible, changing the label of some…
(see paper for full abstract) Cut problems and connectivity problems on digraphs are two well-studied classes of problems from the viewpoint of parameterized complexity. After a series of papers over the last decade, we now have (almost)…
Given a graph $G=(V,E)$, a set $\mathcal{F}$ of forbidden subgraphs, we study $\mathcal{F}$-Free Edge Deletion, where the goal is to remove minimum number of edges such that the resulting graph does not contain any $F\in \mathcal{F}$ as a…
With the rapid adoption of machine learning (ML), a number of domains now use the approach of fine tuning models which were pre-trained on a large corpus of data. However, our experiments show that even fine-tuning on models like BERT can…
Arbitrary Pattern Formation (APF) is a fundamental coordination problem in swarm robotics. It requires a set of autonomous robots (mobile computing units) to form an arbitrary pattern (given as input) starting from any initial pattern. This…
Solution discovery asks whether a given (infeasible) starting configuration to a problem can be transformed into a feasible solution using a limited number of transformation steps. This paper investigates meta-theorems for solution…
We explore how high-speed robot arm motions can dynamically manipulate cables to vault over obstacles, knock objects from pedestals, and weave between obstacles. In this paper, we propose a self-supervised learning framework that enables a…
This paper explores the problem of autonomous, in-hand regrasping--the problem of moving from an initial grasp on an object to a desired grasp using the dexterity of a robot's fingers. We propose a planner for this problem which alternates…
Given an edge-weighted graph $G$ on $n$ nodes, the NP-hard Max-Cut problem asks for a node bipartition such that the sum of edge weights joining the different partitions is maximized. We propose a fixed-parameter tractable algorithm…
Robots struggle to understand object properties like shape, material, and semantics due to limited prior knowledge, hindering manipulation in unstructured environments. In contrast, humans learn these properties through interactive…
Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial applications such as inspection. However, to leave the laboratory and to become useful to an end user requires reliability in harsh conditions. From…
Fast algorithms for optimal multi-robot path planning are sought after in real-world applications. Known methods, however, generally do not simultaneously guarantee good solution optimality and good (e.g., polynomial) running time. In this…
Fast shipping and efficient routing are key problems of modern logistics. Building on previous studies that address package delivery from a source node to a destination within a graph using multiple agents (such as vehicles, drones, and…
In the $k$-Cut problem, we are given an edge-weighted graph $G$ and an integer $k$, and have to remove a set of edges with minimum total weight so that $G$ has at least $k$ connected components. Prior work on this problem gives, for all $h…