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This paper introduces a novel scheduling problem, where jobs occupy a triangular shape on the time line. This problem is motivated by scheduling jobs with different criticality levels. A measure is introduced, namely the binary tree ratio.…
Rapidly-exploring Random Trees (RRT) and its variations have emerged as a robust and efficient tool for finding collision-free paths in robotic systems. However, adding dynamic constraints makes the motion planning problem significantly…
We propose an algorithmic framework for efficient anytime motion planning on large dense geometric roadmaps, in domains where collision checks and therefore edge evaluations are computationally expensive. A large dense roadmap (graph) can…
Greedy BST (or simply Greedy) is an online self-adjusting binary search tree defined in the geometric view ([Lucas, 1988; Munro, 2000; Demaine, Harmon, Iacono, Kane, Patrascu, SODA 2009). Along with Splay trees (Sleator, Tarjan 1985),…
Improving the performance of motion planning algorithms for high-degree-of-freedom robots usually requires reducing the cost or frequency of computationally expensive operations. Traditionally, and especially for asymptotically optimal…
Geodesic distance, sometimes called shortest path length, has proven useful in a great variety of applications, such as information retrieval on networks including treelike networked models. Here, our goal is to analytically determine the…
Path planning for wheeled mobile robots is a critical component in the field of automation and intelligent transportation systems. Car-like vehicles, which have non-holonomic constraints on their movement capability impose additional…
We use a greedy strategy to list the spanning trees of the fan graph, $F_n$, such that successive trees differ by pivoting a single edge around a vertex. It is the first greedy algorithm for exhaustively generating spanning trees using such…
Greedy minimum weight spanning tree packings have proven to be useful in connectivity-related problems. We study the process of greedy minimum weight base packings in general matroids and explore its applications. For general matroids, we…
Path planning for mobile robots in large dynamic environments is a challenging problem, as the robots are required to efficiently reach their given goals while simultaneously avoiding potential conflicts with other robots or dynamic…
This short article presents a new implementation for decision trees. By introducing pre-sorted deques, the leaf-wise greedy tree growing strategy no longer needs to re-sort data at each node, and takes O(kn) time and O(1) extra memory…
Informed sampling-based planning algorithms exploit problem knowledge for better search performance. This knowledge is often expressed as heuristic estimates of solution cost and used to order the search. The practical improvement of this…
Given an edge-weighted graph $G=(V,E)$ and a set $E_0\subset E$, the incremental network design problem with minimum spanning trees asks for a sequence of edges $e'_1,\ldots,e'_T\in E\setminus E_0$ minimizing $\sum_{t=1}^Tw(X_t)$ where…
Many robotics applications benefit from being able to compute multiple locally optimal paths in a given configuration space. Examples include path planning for of tethered robots with cable-length constraints, systems involving cables,…
At SODA 2009, Demaine et al. presented a novel connection between binary search trees (BSTs) and subsets of points on the plane. This connection was independently discovered by Derryberry et al. As part of their results, Demaine et al.…
Trajectory planning for quadrotors in cluttered environments has been challenging in recent years. While many trajectory planning frameworks have been successful, there still exists potential for improvements, particularly in enhancing the…
Interactive graph search (IGS) uses human intelligence to locate the target node in hierarchy, which can be applied for image classification, product categorization and searching a database. Specifically, IGS aims to categorize an object…
Training a supernet matters for one-shot neural architecture search (NAS) methods since it serves as a basic performance estimator for different architectures (paths). Current methods mainly hold the assumption that a supernet should give a…
Robotic motion-planning problems, such as a UAV flying fast in a partially-known environment or a robot arm moving around cluttered objects, require finding collision-free paths quickly. Typically, this is solved by constructing a graph,…
Projective analysis is an important solution for 3D shape retrieval, since human visual perceptions of 3D shapes rely on various 2D observations from different view points. Although multiple informative and discriminative views are…