Related papers: A Sublinear Algorithm for Path Feasibility Among R…
I will present a way to implement graph algorithms which is different from traditional methods. This work was motivated by the belief that some ideas from software engineering should be applied to graph algorithms. Re-usability of software…
In this paper we show how to combine two algorithmic techniques to obtain linear time algorithms for various optimization problems on graphs, and present a subroutine which will be useful in doing so. The first technique is iterative…
In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover,…
Automated driving in urban scenarios requires efficient planning algorithms able to handle complex situations in real-time. A popular approach is to use graph-based planning methods in order to obtain a rough trajectory which is…
Real-time navigation in dense human environments is a challenging problem in robotics. Most existing path planners fail to account for the dynamics of pedestrians because introducing time as an additional dimension in search space is…
We consider three related problems of robot movement in arbitrary dimensions: coverage, search, and navigation. For each problem, a spherical robot is asked to accomplish a motion-related task in an unknown environment whose geometry is…
We consider the problem of finding a Hamiltonian path with precedence constraints in the form of a partial order on the vertex set. This problem is known as Partially Ordered Hamiltonian Path Problem (POHPP). Here, we study the complexity…
An underactuated nonholonomic Dubins-vehicle-like robot with a lower-limited turning radius travels with a constant speed in a plane, which hosts unknown complex objects. The robot has to approach and then circumnavigate all objects, with…
A geometric graph is a graph embedded in the plane with vertices at points and edges drawn as curves (which are usually straight line segments) between those points. The average transversal complexity of a geometric graph is the number of…
Graphs are fundamental objects that find widespread applications across computer science and beyond. Graph Theory has yielded deep insights about structural properties of various families of graphs, which are leveraged in the design and…
Effective communication is key to successful, decentralized, multi-robot path planning. Yet, it is far from obvious what information is crucial to the task at hand, and how and when it must be shared among robots. To side-step these issues…
Dynamic graph algorithms have seen significant theoretical advancements, but practical evaluations often lag behind. This work bridges the gap between theory and practice by engineering and empirically evaluating recently developed…
Sampling-based path planning is a widely used method in robotics, particularly in high-dimensional state space. Among the whole process of the path planning, collision detection is the most time-consuming operation. In this paper, we…
The quantum query complexity of subgraph-containment problems, which ask whether a given subgraph $H$ is present in an input graph $G$, has been the subject of considerable study. However, even for relatively simple subgraphs, such as paths…
We present a decoupled algorithm for motion planning for a collection of unit-balls moving among polyhedral obstacles in $\mathbb{R}^d$, for any $d \ge 2$. We assume that the robots have revolving areas in the vicinity of their start and…
It is a challenging task for ground robots to autonomously navigate in harsh environments due to the presence of non-trivial obstacles and uneven terrain. This requires trajectory planning that balances safety and efficiency. The primary…
Downsampling and path planning are essential in robotics and autonomous systems, as they enhance computational efficiency and enable effective navigation in complex environments. However, current downsampling methods often fail to preserve…
Path planning for multiple robots (MRPP) represents a task of finding non-colliding paths for robots through which they can navigate from their initial positions to specified goal positions. The problem is usually modeled using undirected…
An important objective for analyzing real-world graphs is to achieve scalable performance on large, streaming graphs. A challenging and relevant example is the graph partition problem. As a combinatorial problem, graph partition is NP-hard,…
We consider the following two algorithmic problems: given a graph $G$ and a subgraph $H\subseteq G$, decide whether $H$ is an isometric or a geodesically convex subgraph of $G$. It is relatively easy to see that the problems can be solved…