Related papers: A Sublinear Algorithm for Path Feasibility Among R…
Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms…
Algorithms for laying out large graphs have seen significant progress in the past decade. However, browsing large graphs remains a challenge. Rendering thousands of graphical elements at once often results in a cluttered image, and…
We present an online centralized path planning algorithm to cover a large, complex, unknown workspace with multiple homogeneous mobile robots. Our algorithm is horizon-based, synchronous, and on-demand. The recently proposed horizon-based…
We consider the motion-planning problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time…
In this work, we analyze an efficient sampling-based algorithm for general-purpose reachability analysis, which remains a notoriously challenging problem with applications ranging from neural network verification to safety analysis of…
We consider the problem of computing shortest paths in a dense motion-planning roadmap $\mathcal{G}$. We assume that~$n$, the number of vertices of $\mathcal{G}$, is very large. Thus, using any path-planning algorithm that directly searches…
Navigation is one of the most widely used applications of the Location Based Services (LBS) which have become part of our digitally informed daily lives. Navigation services, however, have generally been designed for drivers rather than…
We survey graph reachability indexing techniques for efficient processing of graph reachability queries in two types of popular graph models: plain graphs and edge-labeled graphs. Reachability queries are Boolean in nature, determining…
We consider the problem of finding minimum-link rectilinear paths in rectilinear polygonal domains in the plane. A path or a polygon is rectilinear if all its edges are axis-parallel. Given a set $\mathcal{P}$ of $h$ pairwise-disjoint…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
In this paper we tackle the problem of persistently covering a complex non-convex environment with a team of robots. We consider scenarios where the coverage quality of the environment deteriorates with time, requiring to constantly revisit…
We study the problem of generating graphs with prescribed degree sequences for bipartite, directed, and undirected networks. We first propose a sequential method for bipartite graph generation and establish a necessary and sufficient…
Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…
We study the problem of optimal multi-robot path planning on graphs (MPP) over four distinct minimization objectives: the total arrival time, the makespan (last arrival time), the total distance, and the maximum (single-robot traveled)…
We study the problem of optimal multi-robot path planning on graphs MPP over four distinct minimization objectives: the makespan (last arrival time), the maximum (single-robot traveled) distance, the total arrival time, and the total…
Higher-dimensional orthogonal packing problems have a wide range of practical applications, including packing, cutting, and scheduling. Previous efforts for exact algorithms have been unable to avoid structural problems that appear for…
Geometric routing algorithms like GFG (GPSR) are lightweight, scalable algorithms that can be used to route in resource-constrained ad hoc wireless networks. However, such algorithms run on planar graphs only. To efficiently construct a…
In this paper we study local routing strategies on geometric graphs. Such strategies use geometric properties of the graph like the coordinates of the current and target nodes to route. Specifically, we study routing strategies in the…
In this paper, we address a class of specially structured problems that include speed planning, for mobile robots and robotic manipulators, and dynamic programming. We develop two new numerical procedures, that apply to the general case and…
Unforeseen events are frequent in the real-world environments where robots are expected to assist, raising the need for fast replanning of the policy in execution to guarantee the system and environment safety. Inspired by human behavioural…