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Probabilistic sampling-based algorithms, such as the probabilistic roadmap (PRM) and the rapidly-exploring random tree (RRT) algorithms, represent one of the most successful approaches to robotic motion planning, due to their strong…
Finding approximate occurrences of a pattern in a text using a full-text index is a central problem in bioinformatics and has been extensively researched. Bidirectional indices have opened new possibilities in this regard allowing the…
In several important routing contexts it is required to identify a set of routes, each of which optimizes a different criterion. For instance, in the context of vehicle routing, one route would minimize the total distance traveled, while…
Path planning for autonomous robots faces a fundamental trade-off between path length and obstacle clearance. While existing algorithms typically prioritize a single objective, we introduce the Unified Path Planner (UPP), a graph-search…
Fastest-path queries between two points in a very large road map is an increasingly important primitive in modern transportation and navigation systems, thus very efficient computation of these paths is critical for system performance and…
Robotics have recently contributed to cosmological spectroscopy to automatically obtain the map of the observable universe using robotic fiber positioners. For this purpose, an assignment algorithm is required to assign each robotic fiber…
Many combinatorial optimization problems can be formulated as the search for a subgraph that satisfies certain properties and minimizes the total weight. We assume here that the vertices correspond to points in a metric space and can take…
Coverage path planning (CPP) is the task of computing an optimal path within a region to completely scan or survey an area of interest using one or multiple mobile robots. Robots equipped with sensors and cameras can collect vast amounts of…
Schema matching is the process of identifying correspondences between the elements of two given schemata, essential for database management systems, data integration, and data warehousing. For datasets across different scenarios, the…
We propose a family of search directions based on primal-dual entropy in the context of interior-point methods for linear optimization. We show that by using entropy based search directions in the predictor step of a predictor-corrector…
This paper proposed the 'Post Triangular Rewiring' method that minimizes the sacrifice of planning time and overcomes the limit of Optimality of sampling-based algorithm such as Rapidly-exploring Random Tree (RRT) algorithm. The proposed…
This paper addresses the problem of finding multiple near-optimal, spatially-dissimilar paths that can be considered as alternatives in the decision making process, for finding optimal corridors in which to construct a new road. We further…
Phasor Measurement Units (PMUs) are essential measuring devices for monitoring, control and protection of power systems. The objective of the optimal PMU placement (OPP) problem is to minimize the number of PMUs and select the bus locations…
We establish the expressibility in fixed-point logic with counting (FPC) of a number of natural polynomial-time problems. In particular, we show that the size of a maximum matching in a graph is definable in FPC. This settles an open…
Recent papers have shown optimally-competitive on-line strategies for a robot traveling from a point $s$ to a point $t$ in certain unknown geometric environments. We consider the question: Having gained some partial information about the…
In this paper, we present several results of both theoretical as well as practical interests. First, we propose the quota lawn mowing problem, an extension of the classic lawn mowing problem in computational geometry, as follows: given a…
When designing multispectral imaging systems for classifying different spectra it is necessary to choose a small number of filters from a set with several hundred different ones. Tackling this problem by full search leads to a tremendous…
The Closest String Problem is an NP-hard problem that aims to find a string that has the minimum distance from all sequences that belong to the given set of strings. Its applications can be found in coding theory, computational biology, and…
Providing smooth reference trajectories can effectively increase performance and accuracy of tracking control applications while overshoot and unwanted vibrations are reduced. Trajectory planning computations can often be simplified…
Optimal path planning is the problem of finding a valid sequence of states between a start and goal that optimizes an objective. Informed path planning algorithms order their search with problem-specific knowledge expressed as heuristics…