Related papers: Design of A* based heuristic algorithm for efficie…
Safety is extremely important for urban flights of autonomous Unmanned Aerial Vehicles (UAVs). Risk-aware path planning is one of the most effective methods to guarantee the safety of UAVs. This type of planning can be represented as a…
In this paper, we develop a fast mixed-integer convex programming (MICP) framework for multi-robot navigation by combining graph attention networks and distributed optimization. We formulate a mixed-integer optimization problem for receding…
Rapidly-exploring Random Tree Star(RRT*) is a recently proposed extension of Rapidly-exploring Random Tree (RRT) algorithm that provides a collision-free, asymptotically optimal path regardless of obstacle's geometry in a given environment.…
The Clique Interdiction Problem (CIP) aims to minimize the size of the largest clique in a given graph by removing a given number of vertices. The CIP models a special Stackelberg game and has important applications in fields such as…
Stochastic patrol routing is known to be advantageous in adversarial settings; however, the optimal choice of stochastic routing strategy is dependent on a model of the adversary. We adopt a worst-case omniscient adversary model from the…
We present a new heuristic method for minimising crossings in a graph. The method is based upon repeatedly solving the so-called {\em star insertion problem} in the setting where the combinatorial embedding is fixed, and has several…
The article introduces the stochastic N-k interdiction problem for power grid operations and planning that aims to identify a subset of k components (out of N components) that maximizes the expected damage, measured in terms of load shed.…
Motion-planning problems, such as manipulation in cluttered environments, often require a collision-free shortest path to be computed quickly given a roadmap graph. Typically, the computational cost of evaluating whether an edge of the…
We address a problem of area protection in graph-based scenarios with multiple mobile agents where connectivity is maintained among agents to ensure they can communicate. The problem consists of two adversarial teams of agents that move in…
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…
In the graph label selection problem, one is given an $n$-vertex graph and a budget $k$, and seeks to select $k$ vertices whose labels enable accurate prediction of the labels on the remaining vertices. This problem formalizes distilling a…
Fastest-path queries between two points in a very large road map is an increasingly important primitive in modern transportation and navigation systems, thus very efficient computation of these paths is critical for system performance and…
Early detection of network intrusions and cyber threats is one of the main pillars of cybersecurity. One of the most effective approaches for this purpose is to analyze network traffic with the help of artificial intelligence algorithms,…
In this paper, we study the privacy-preserving distributed optimization problem, aiming to prevent attackers from stealing the private information of agents. For this purpose, we propose a novel privacy-preserving algorithm based on the…
The task of allocating preventative resources to a computer network in order to protect against the spread of viruses is addressed. Virus spreading dynamics are described by a linearized SIS model and protection is framed by an optimization…
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…
Computing high-quality graph partitions is a challenging problem with numerous applications. In this paper, we present a novel meta-heuristic for the balanced graph partitioning problem. Our approach is based on integer linear programs that…
Artificial neural networks are prone to being fooled by carefully perturbed inputs which cause an egregious misclassification. These \textit{adversarial} attacks have been the focus of extensive research. Likewise, there has been an…
Graph modeling allows numerous security problems to be tackled in a general way, however, little work has been done to understand their ability to withstand adversarial attacks. We design and evaluate two novel graph attacks against a…
Conflict-Based Search is one of the most popular methods for multi-agent path finding. Though it is complete and optimal, it does not scale well. Recent works have been proposed to accelerate it by introducing various heuristics. However,…