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Given a set of $n\geq 1$ autonomous, anonymous, indistinguishable, silent, and possibly disoriented mobile unit disk (i.e., fat) robots operating following Look-Compute-Move cycles in the Euclidean plane, we consider the Pattern Formation…
Our interest was to evaluate changes in fixation duration as a function of time-on-task (TOT) during a random saccade task. We employed a large, publicly available dataset. The frequency histogram of fixation durations was multimodal and…
We consider the problem of maximizing the alpha-fairness utility over the downlink of a heterogeneous wireless network (HetNet) by jointly optimizing the association of users to transmission points (TPs) and the activation fractions of all…
Multi-robot systems are uniquely well-suited to performing complex tasks such as patrolling and tracking, information gathering, and pick-up and delivery problems, offering significantly higher performance than single-robot systems. A…
In this paper we study multi-robot path planning for persistent monitoring tasks. We consider the case where robots have a limited battery capacity with a discharge time $D$. We represent the areas to be monitored as the vertices of a…
Narrow escape and narrow capture problems which describe the average times required to stop the motion of a randomly travelling particle within a domain have applications in various areas of science. While for general domains, it is known…
Modeling of laser-plasma wakefield accelerators in an optimal frame of reference \cite{VayPRL07} is shown to produce orders of magnitude speed-up of calculations from first principles. Obtaining these speedups requires mitigation of a…
In the open online dial-a-ride problem, a single server has to deliver transportation requests appearing over time in some metric space, subject to minimizing the completion time. We improve on the best known upper bounds on the competitive…
The paper present a novel approach for the solution of the Multi-Robot Communication-Aware Trajectory Planning, which builds on a general optimisation framework where the changes in robots positions are used as decision variable, and linear…
Federated fine-tuning (FFT) attempts to fine-tune a pre-trained model with private data from distributed clients by exchanging models rather than data under the orchestration of a parameter server (PS). To overcome the bottleneck forged by…
Federated learning (FL) can dramatically speed up reinforcement learning by distributing exploration and training across multiple agents. It can guarantee an optimal convergence rate that scales linearly in the number of agents, i.e., a…
Foot trajectory planning for dry adhesion legged climbing robots presents challenges, as the phases of foot detachment, swing, and adhesion significantly influence the adhesion and detachment forces essential for stable climbing. To tackle…
We present a new approximation algorithm for the treewidth problem which finds an upper bound on the treewidth and constructs a corresponding tree decomposition as well. Our algorithm is a faster variation of Reed's classical algorithm. For…
The Workflow Satisfiability Problem (WSP) asks whether there exists an assignment of authorized users to the steps in a workflow specification, subject to certain constraints on the assignment. The problem is NP-hard even when restricted to…
This paper mainly studies the accurate height jumping control of wheeled-bipedal robots based on torque planning and energy consumption optimization. Due to the characteristics of underactuated, nonlinear estimation, and instantaneous…
Legged robots are becoming increasingly agile in exhibiting dynamic behaviors such as running and jumping. Usually, such behaviors are either optimized and engineered offline (i.e. the behavior is designed for before it is needed), either…
We consider the problem of fault-tolerant parallel search on an infinite line by $n$ robots. Starting from the origin, the robots are required to find a target at an unknown location. The robots can move with maximum speed $1$ and can…
We study the unsplittable flow on a path problem (UFP) where we are given a path with non-negative edge capacities and tasks, which are characterized by a subpath, a demand, and a profit. The goal is to find the most profitable subset of…
Robot navigation in human semi-static and crowded environments can lead to the freezing problem, where the robot can not move due to the presence of humans standing on its path and no other path is available. Classical approaches of robot…
Automatic fall recovery is a crucial prerequisite before humanoid robots can be reliably deployed. Hand-designing controllers for getting up is difficult because of the varied configurations a humanoid can end up in after a fall and the…