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For typical applications of UAVs in power grid scenarios, we construct the problem as planning UAV trajectories for coverage in cluttered environments. In this paper, we propose an optimal smooth coverage trajectory planning algorithm. The…
We investigate two fundamental problems in mobile computing: exploration and rendezvous, with two distinct mobile agents in an unknown graph. The agents may communicate by reading and writing information on whiteboards that are located at…
In many applications, solutions of convex optimization problems are updated on-line, as functions of time. In this paper, we consider parametric semidefinite programs, which are linear optimization problems in the semidefinite cone whose…
In a near future drones are likely to become a viable way of distributing parcels in a urban environment. In this paper we consider the parallel drone scheduling traveling salesman problem, where a set of customers requiring a delivery is…
Path planning for autonomous robots faces a fundamental trade-off between path length and obstacle clearance. While existing algorithms typically prioritize a single objective, we introduce the Unified Path Planner (UPP), a graph-search…
The paper presents a novel software framework for Association Rule Mining named uARMSolver. The framework is written fully in C++ and runs on all platforms. It allows users to preprocess their data in a transaction database, to make…
We combine ideas from uni-directional and bi-directional heuristic search, and approximation algorithms for the Traveling Salesman Problem, to develop a novel framework for a Multi-Goal Path Finding (MGPF) problem that provides a…
Let $P$ be a set of points in $\mathbb{R}^d$, and let $\alpha \ge 1$ be a real number. We define the distance between two points $p,q\in P$ as $|pq|^{\alpha}$, where $|pq|$ denotes the standard Euclidean distance between $p$ and $q$. We…
Neural implicit representations, which encode a surface as the level set of a neural network applied to spatial coordinates, have proven to be remarkably effective for optimizing, compressing, and generating 3D geometry. Although these…
An important variant of the classic Traveling Salesman Problem (TSP) is the Dynamic TSP, in which a system with dynamic constraints is tasked with visiting a set of n target locations (in any order) in the shortest amount of time. Such…
In this paper, we propose a novel optimization-based trajectory planner that utilizes spherical harmonics to estimate the collision-free solution space around an agent. The space is estimated using a constrained over-determined…
We consider a special case of $X$-secure $T$-private information retrieval (XSTPIR), where the security requirement is \emph{asymmetric} due to possible missing communication links between the $N$ databases considered in the system. We…
Geometry processing presents a variety of difficult numerical problems, each seeming to require its own tailored solution. This breadth is largely due to the expansive list of geometric primitives, e.g., splines, triangles, and hexahedra,…
Many real-world scenarios involve solving bi-level optimization problems in which there is an outer discrete optimization problem, and an inner problem involving expensive or black-box computation. This arises in space-time dependent…
We investigate a variation of the art gallery problem in which a team of mobile guards tries to track an unpredictable intruder in a simply-connected polygonal environment. In this work, we use the deployment strategy for diagonal guards…
This paper presents a novel strategy for a multi-agent pursuit-evasion game involving multiple faster pursuers with heterogenous speeds and a single slower evader. We define a geometric region, the evader's safe-reachable set, as the…
Terahertz (THz) communication is a promising technology for future wireless communications, offering data rates of up to several terabits-per-second (Tbps). However, the range of THz band communications is often limited by high pathloss and…
This paper studies, for the first time, the trajectory planning problem in adversarial environments, where the objective is to design the trajectory of a robot to reach a desired final state despite the unknown and arbitrary action of an…
The global expansion of the Internet has brought many challenges to geopolitics. Cyberspace is a space of strategic priority for many states. Understanding and representing its geography remains an ongoing challenge. Nevertheless, we need…
In this paper, we study an unmanned aerial vehicle(UAV)-enabled wireless sensor network, where a UAV is dispatched to collect the sensed data from distributed sensor nodes (SNs) for estimating an unknown parameter. It is revealed that in…