Related papers: Time-optimal Asynchronous Minimal Vertex Covering …
We study graph-based Multi-Robot Coverage Path Planning (MCPP) that aims to compute coverage paths for multiple robots to cover all vertices of a given 2D grid terrain graph $G$. Existing graph-based MCPP algorithms first compute a tree…
The minimum height of vertex and edge partition trees are well-studied graph parameters known as, for instance, vertex and edge ranking number. While they are NP-hard to determine in general, linear-time algorithms exist for trees.…
Gathering is a fundamental coordination problem in swarm robotics, where the objective is to bring robots together at a point not known to them at the beginning. While most research focuses on continuous domains, some studies also examine…
This paper addresses the problem of multi-robot navigation where robots maneuver on a desired \(m\)-dimensional (i.e., \(m\)-D) manifold in the $n$-dimensional Euclidean space, and maintain a {\it flexible spatial ordering}. We consider $…
We consider a strong variant of the crash fault-tolerant gathering problem called stand-up indulgent gathering (SUIG), by robots endowed with limited visibility sensors and lights on line-shaped networks. In this problem, a group of mobile…
Subgraph complementation is an operation that toggles all adjacencies inside a selected vertex set. Given a graph \(G\) and a target class \(\mathcal{C}\), the Minimum Subgraph Complementation problem asks for a minimum-size vertex set…
For large-scale tasks, coverage path planning (CPP) can benefit greatly from multiple robots. In this paper, we present an efficient algorithm MSTC* for multi-robot coverage path planning (mCPP) based on spiral spanning tree coverage…
Globally consistent dense maps are a key requirement for long-term robot navigation in complex environments. While previous works have addressed the challenges of dense mapping and global consistency, most require more computational…
This paper studies $MPC^{5+}_v$, which is to cover as many vertices as possible in a given graph $G=(V,E)$ by vertex-disjoint $5^+$-paths (i.e., paths each with at least five vertices). $MPC^{5+}_v$ is NP-hard and admits an existing…
Collaborative multiple robots for unknown environment exploration have become mainstream due to their remarkable performance and efficiency. However, most existing methods assume perfect robots' communication during exploration, which is…
Temporal graphs are graphs where the edge set can change in each time step, and the vertex set stays the same. Exploration of temporal graphs whose snapshot in each time step is a connected graph, called connected temporal graphs, has been…
Let G=(V,E) be a graph with f:V\to Z_+ a function assigning degree bounds to vertices. We present the first efficient algebraic algorithm to find an f-factor. The time is \tilde{O}(f(V)^{\omega}). More generally for graphs with integral…
The goal of the thesis is to leverage fast graph algorithms and modern algorithmic techniques for problems in model checking and synthesis on graphs, MDPs, and game graphs. The results include symbolic algorithms, a well-known class of…
The subject of this work is the patrolling of an environment with the aid of a team of autonomous agents. We consider both the design of open-loop trajectories with optimal properties, and of distributed control laws converging to optimal…
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…
We are motivated by the fact that multiple representations of the environment are required to stand for the changes in appearance with time and for changes that appear in a cyclic manner. These changes are, for example, from day to night…
Generally, a graph G, an independent set is a subset S of vertices in G such that no two vertices in S are adjacent (connected by an edge) and a vertex cover is a subset S of vertices such that each edge of G has at least one of its…
Let $G=(V,E)$ be a simple undirected graph. The open neighbourhood of a vertex $v$ in $G$ is defined as $N_G(v)=\{u\in V~|~ uv\in E\}$; whereas the closed neighbourhood is defined as $N_G[v]= N_G(v)\cup \{v\}$. For an integer $k$, a subset…
Shortest-path roadmaps, also known as reduced visibility graphs, provides a highly efficient multi-query method for computing optimal paths in two-dimensional environments. Combined with Minkowski sum computations, shortest-path roadmaps…
Consider a region that requires to be protected from unauthorized penetrations. The border of the region, modeled as a unit line segment, consists of high priority segments that require the highest level of protection separated by low…