Related papers: Open Loop Layout Optimization: Feasible Path Plann…
Given $n$ intervals on a line $\ell$, we consider the problem of moving these intervals on $\ell$ such that no two intervals overlap and the maximum moving distance of the intervals is minimized. The difficulty for solving the problem lies…
We describe a $O(\log n )$-approximation algorithm for computing the homotopic \Frechet distance between two polygonal curves that lie on the boundary of a triangulated topological disk. Prior to this work, algorithms were known only for…
This work studies distributed algorithms for locally optimal load-balancing: We are given a graph of maximum degree $\Delta$, and each node has up to $L$ units of load. The task is to distribute the load more evenly so that the loads of…
We consider the problem of finding the closest lattice point to a vector in n-dimensional Euclidean space when each component of the vector is available at a distinct node in a network. Our objectives are (i) minimize the communication cost…
Linear programs (LPs) can be solved by polynomially many moves along the circuit direction improving the objective the most, so-called deepest-descent steps (dd-steps). Computing these steps is NP-hard (De Loera et al., arXiv, 2019), a…
We present a class of linear programming approximations for constrained optimization problems. In the case of mixed-integer polynomial optimization problems, if the intersection graph of the constraints has bounded tree-width our…
Consider the goal of visiting every part of a room that is not blocked by obstacles. Doing so efficiently requires both sensors and planning. Our findings suggest a method of inexpensive optical range finding for robotic room traversal. Our…
Ensuring safe driving while maintaining travel efficiency for autonomous vehicles in dynamic and occluded environments is a critical challenge. This paper proposes an occlusion-aware contingency safety-critical planning approach for…
This article explores an approach to addressing the Close Enough Traveling Salesman Problem (CETSP). The objective is to streamline the mathematical formulation by introducing reformulations that approximate the Euclidean distances and…
A $(1+\epsilon)$-approximate distance oracle of an edge-weighted graph is a data structure that returns an approximate shortest path distance between any two query vertices up to a $(1+\epsilon)$ factor. Thorup (FOCS 2001, JACM 2004) and…
We develop polynomial-size LP-relaxations for {\em orienteering} and the {\em regret-bounded vehicle routing problem} (\rvrp) and devise suitable LP-rounding algorithms that lead to various new insights and approximation results for these…
The Traveling Thief Problem (TTP) is a multi-component optimization problem that captures the interplay between routing and packing decisions by combining the classical Traveling Salesperson Problem (TSP) and the Knapsack Problem (KP). The…
The global many-electron wave function overlap matrix accounts for all effects beyond the Born-Oppenheimer approximation in the discrete variable local diabatic representation, a numerically exact framework for modeling nonadiabatic conical…
All known algorithms for the Fr\'echet distance between curves proceed in two steps: first, they construct an efficient oracle for the decision version; second, they use this oracle to find the optimum from a finite set of critical values.…
We consider the 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 spent there. We…
An emerging class of trajectory optimization methods enforces collision avoidance by jointly optimizing the robot's configuration and a separating hyperplane. However, as linear separators only apply to convex sets, these methods require…
Mapping is essential in robotics and autonomous systems because it provides the spatial foundation for path planning. Efficient mapping enables planning algorithms to generate reliable paths while ensuring safety and adapting in real time…
We study a map matching problem, the task of finding in an embedded graph a path that has low distance to a given curve in R^2. The Fr\'echet distance is a common measure for this problem. Efficient methods exist to compute the best path…
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…
Connected and autonomous vehicles (CAVs), unlike conventional cars, will utilise the whole space of intersections and cross in a lane-free order. This paper formulates such a lane-free crossing of intersections as a multi-objective optimal…