Related papers: Universal Solvability for Robot Motion Planning on…
A graph $G(V, E)$ is \emph{claw-free} if no vertex has three pairwise non-adjacent neighbours. The Maximum Weight Stable Set (MWSS) Problem in a claw-free graph is a natural generalization of the Matching Problem and has been shown to be…
An instance of the Connected Maximum Cut problem consists of an undirected graph G = (V, E) and the goal is to find a subset of vertices S $\subseteq$ V that maximizes the number of edges in the cut \delta(S) such that the induced graph…
Many combinatorial optimization problems can be phrased in the language of constraint satisfaction problems. We introduce a graph neural network architecture for solving such optimization problems. The architecture is generic; it works for…
Let $G$ be a connected graph and $\mathcal{P}(G)$ a graph parameter. We say that $\mathcal{P}(G)$ is feasible if $\mathcal{P}(G)$ satisfies the following properties: (I) $\mathcal{P}(G)\leq \mathcal{P}(G_{uv})$, if $G_{uv}=G[u\to v]$ for…
Simultaneous Geometric Embedding (SGE) asks whether, for a given collection of graphs on the same vertex set V, there is an embedding of V in the plane that admits a crossing-free drawing with straightline edges for each of the given…
The \textsc{Mutual Visibility} is a well-known problem in the context of mobile robots. For a set of $n$ robots disposed in the Euclidean plane, it asks for moving the robots without collisions so as to achieve a placement ensuring that no…
When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…
We describe algorithms to efficiently compute minimum $(s,t)$-cuts and global minimum cuts of undirected surface-embedded graphs. Given an edge-weighted undirected graph $G$ with $n$ vertices embedded on an orientable surface of genus $g$,…
In this paper we propose algorithms for allocating $n$ sequential balls into $n$ bins that are interconnected as a $d$-regular $n$-vertex graph $G$, where $d\ge3$ can be any integer.Let $l$ be a given positive integer. In each round $t$,…
Motivated by the classic Generalized Assignment Problem, we consider the Graph Balancing problem in the presence of orientation costs: given an undirected multi-graph G = (V,E) equipped with edge weights and orientation costs on the edges,…
Motion planning for autonomous vehicles requires generating collision-free and dynamically feasible trajectories in complex environments under real-time constraints. While nonlinear optimal control formulations provide high-fidelity…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
Selecting regularization parameters in penalized high-dimensional graphical models in a principled, data-driven, and computationally efficient manner continues to be one of the key challenges in high-dimensional statistics. We present…
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…
We present a theoretical analysis of a recent whole body motion planning method, the Randomized Possibility Graph, which uses a high-level decomposition of the feasibility constraint manifold in order to rapidly find routes that may lead to…
We study the path planning problem for continuum-arm robots, in which we are given a starting and an end point, and we need to compute a path for the tip of the continuum arm between the two points. We consider both cases where obstacles…
To control how a robot moves, motion planning algorithms must compute paths in high-dimensional state spaces while accounting for physical constraints related to motors and joints, generating smooth and stable motions, avoiding obstacles,…
We develop a new framework for generalizing approximation algorithms from the structural graph algorithm literature so that they apply to graphs somewhat close to that class (a scenario we expect is common when working with real-world…
In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…
In this paper, we study the Orienteering Aisle-graphs Single-access Problem (OASP), a variant of the orienteering problem for a robot moving in a so-called single-access aisle-graph, i.e., a graph consisting of a set of rows that can be…