Related papers: A Sublinear Algorithm for Path Feasibility Among R…
Recent papers have shown optimally-competitive on-line strategies for a robot traveling from a point $s$ to a point $t$ in certain unknown geometric environments. We consider the question: Having gained some partial information about the…
The graph matching optimization problem is an essential component for many tasks in computer vision, such as bringing two deformable objects in correspondence. Naturally, a wide range of applicable algorithms have been proposed in the last…
Obstacle avoidance between polytopes is a challenging topic for optimal control and optimization-based trajectory planning problems. Existing work either solves this problem through mixed-integer optimization, relying on simplification of…
The Longest Path Problem is a question of finding the maximum length between pairs of vertices of a graph. In the general case, the problem is NP-complete. However, there is a small collection of graph classes for which there exists an…
The rise of graph analytic systems has created a need for ways to measure and compare the capabilities of these systems. Graph analytics present unique scalability difficulties. The machine learning, high performance computing, and visual…
The Gathering problem for a swarm of robots asks for a distributed algorithm that brings such entities to a common place, not known in advance. We consider the well-known OBLOT model with robots constrained to move along the edges of a…
In this work we provide a new technique to design fast approximation algorithms for graph problems where the points of the graph lie in a metric space. Specifically, we present a sampling approach for such metric graphs that, using a…
The Single-Source Shortest Path (SSSP) problem is well-known for the challenges in developing fast, practical, and work-efficient parallel algorithms. This work introduces a novel shortest path search method. It allows paths with different…
Many robotic applications, such as sanding, polishing, wiping and sensor scanning, require a manipulator to dexterously cover a surface using its end-effector. In this paper, we provide an efficient and effective coverage path planning…
This paper considers the collaborative graph exploration problem in GPS-denied environments, where a group of robots are required to cover a graph environment while maintaining reliable pose estimations in collaborative simultaneous…
The paper presents a strategy for robotic exploration problems using Space-Filling curves (SFC). The region of interest is first tessellated, and the tiles/cells are connected using some SFC. A robot follows the SFC to explore the entire…
On-line motion planning in unknown environments is a challenging problem as it requires (i) ensuring collision avoidance and (ii) minimizing the motion time, while continuously predicting where to go next. Previous approaches to on-line…
In online interval scheduling, the input is an online sequence of intervals, and the goal is to accept a maximum number of non-overlapping intervals. In the more general disjoint path allocation problem, the input is a sequence of requests,…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
Recent years have witnessed a flurry of research activity in graph matching, which aims at finding the correspondence of nodes across two graphs and lies at the heart of many artificial intelligence applications. However, matching…
Routing problems such as Hamiltonian Path Problem (HPP), seeks a path to visit all the vertices in a graph while minimizing the path cost. This paper studies a variant, HPP with Probabilistic Terminals (HPP-PT), where each vertex has a…
Motion planners for mobile robots in unknown environments face the challenge of simultaneously maintaining both robustness against unmodeled uncertainties and persistent feasibility of the trajectory-finding problem. That is, while dealing…
In this paper, a class of optimization problems with nonlinear inequality constraints is discussed. Based on the ideas of sequential quadratic programming algorithm and the method of strongly sub-feasible directions, a new superlinearly…
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…
We study a generalized motion planning problem involving multiple autonomous robots navigating in a $d$-dimensional Euclidean space in the presence of a set of obstacles whose positions are unknown a priori. Each robot is required to visit…