Related papers: Time-optimal Asynchronous Minimal Vertex Covering …
Locating-dominating codes have been studied widely since their introduction in the 1980s by Slater and Rall. In this paper, we concentrate on vertices that must belong to all minimum locating-dominating codes in a graph. We call them…
Consider a system of autonomous mobile robots initially randomly deployed on the nodes of an anonymous finite grid. A gathering algorithm is a sequence of moves to be executed independently by each robot so that all robots meet at a single…
In the PATH COVER problem, one asks to cover the vertices of a graph using the smallest possible number of (not necessarily disjoint) paths. While the variant where the paths need to be pairwise vertex-disjoint, which we call PATH…
It is $\mathsf{NP}$-hard to determine the minimum number of branching vertices needed in a single-source distance-preserving subgraph of an undirected graph. We show that this problem can be solved in polynomial time if the input graph is…
The problem of finding a minimum vertex cover (MVC) in a graph is a well-known NP-hard problem with significant practical applications in optimization and scheduling. Its complexity, combined with the increasing scale of problems,…
This paper deals with the problem of finding a collection of vertex-disjoint paths in a given graph G=(V,E) such that each path has at least four vertices and the total number of vertices in these paths is maximized. The problem is NP-hard…
We consider the maximum vertex-weighted matching problem (MVM) for non-bipartite graphs. In earlier work we have described a 2/3-approximation algorithm for the MVM on bipartite graphs (Dobrian, Halappanavar, Pothen and Al-Herz, SIAM J.…
We give a deterministic algorithm for computing a global minimum vertex cut in a vertex-weighted graph $n$ vertices and $m$ edges in $\widehat O(mn)$ time. This breaks the long-standing $\widehat \Omega(n^{4})$-time barrier in dense graphs,…
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…
In this paper we consider a robot patrolling problem in which events arrive randomly over time at the vertices of a graph. When an event arrives it remains active for a random amount of time. If that time active exceeds a certain threshold,…
We study a family of reachability problems under waiting-time restrictions in temporal and vertex-colored temporal graphs. Given a temporal graph and a set of source vertices, we find the set of vertices that are reachable from a source via…
We consider cooperation among insects, modeled as cooperation between mobile robots on a graph. Within this setting, we consider the problem of mobile robot dispersion on graphs. The study of mobile robots on a graph is an interesting…
We present a simultaneous sensor-based inspection and footprint coverage (SIFC) planning and control design with applications to autonomous robotic crack mapping and filling. The main challenge of the SIFC problem lies in the coupling of…
We present a novel framework for human-robot \emph{logical} interaction that enables robots to reliably satisfy (infinite horizon) temporal logic tasks while effectively collaborating with humans who pursue independent and unknown tasks.…
We study an optimization problem that arises in the design of covering strategies for multi-robot systems. Consider a team of $n$ cooperating robots traveling along predetermined closed and disjoint trajectories. Each robot needs to…
We propose an approach to solve multi-agent path planning (MPP) problems for complex environments. Our method first designs a special pebble graph with a set of feasibility constraints, under which MPP problems have feasibility guarantee.…
Many optimization problems can be naturally represented as (hyper) graphs, where vertices correspond to variables and edges to tasks, whose cost depends on the values of the adjacent variables. Capitalizing on the structure of the graph,…
This paper focuses on an adaptive and fault-tolerant vision-guided robotic system that enables to choose the most appropriate control action if partial or complete failure of the vision system in the short term occurs. Moreover, the…
In situations where humans and robots are moving in the same space whilst performing their own tasks, predictable paths taken by mobile robots can not only make the environment feel safer, but humans can also help with the navigation in the…
This paper deals with the design of time-invariant memoryless control policies for robots that move in a finite two- dimensional lattice and are tasked with persistent surveillance of an area in which there are forbidden regions. We model…