Related papers: North-East Lattice Paths Avoiding $k$ Collinear Po…
In this paper we discuss a sequential algorithm for the computation of a minimum-time speed profile over a given path, under velocity, acceleration and jerk constraints. Such a problem arises in industrial contexts such as automated…
In graph theory, the longest path problem is the problem of finding a simple path of maximum length in a given graph. For some small classes of graphs, the problem can be solved in polynomial time [2, 4], but it remains NP-hard on general…
We study the $k$-Canadian Traveller Problem, where a weighted graph $G=(V,E,\omega)$ with a source $s\in V$ and a target $t\in V$ are given. This problem also has a hidden input $E_* \subsetneq E$ of cardinality at most $k$ representing…
We consider the problem of estimating the locations of a set of points in a k-dimensional euclidean space given a subset of the pairwise distance measurements between the points. We focus on the case when some fraction of these measurements…
Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms…
We devise an algorithm that approximately computes the number of paths of length $k$ in a given directed graph with $n$ vertices up to a multiplicative error of $1 \pm \varepsilon$. Our algorithm runs in time $\varepsilon^{-2} 4^k(n+m)…
The tolerance of an element of a combinatorial optimization problem with respect to a given optimal solution is the maximum change, i.e., decrease or increase, of its cost, such that this solution remains optimal. The bottleneck path…
In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…
In this dissertation we attempt to answer the question of whether non-abelian gauge groups occur in all F-theory models with Picard number 20 and with a Calabi-Yau four-fold CY4 K3xK3. To do so we employ the Kneser-Nishiyama method to study…
Sampling-based planning methods often become inefficient due to narrow passages. Narrow passages induce a higher runtime, because the chance to sample them becomes vanishingly small. In recent work, we showed that narrow passages can be…
For a given finite subset P of points of the lattice Z^2, a friendly path is a monotone (uphill or downhill) lattice path which splits points in half; points lying on the path itself are discarded. The purpose of this paper (and its sequel)…
An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a…
Trajectory recommendation is the problem of recommending a sequence of places in a city for a tourist to visit. It is strongly desirable for the recommended sequence to avoid loops, as tourists typically would not wish to revisit the same…
What is the maximum number of points that can be selected from an $n \times n$ square lattice such that no $k+1$ of them are in a line? This has been asked more than $100$ years ago for $k=2$ and it remained wide open ever since. In this…
In this paper we address the speed planning problem for a vehicle along a predefined path. A weighted average of two (conflicting) terms, energy consumption and travel time, is minimized. After deriving a non-convex mathematical model of…
Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to perturbation in task constraints often becomes intractable.…
In this paper we develop finite difference schemes for elliptic problems with piecewise continuous coefficients that have (possibly huge) jumps across fixed internal interfaces. In contrast with such problems involving one smooth…
We consider the problem of finding an optimal piecewise linear path (polygonal line) connecting two given points with the possibility of making n turns at some points (the absolute value of each turn angle does not exceed a prescribed…
We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…
The $k$-Detour problem is a basic path-finding problem: given a graph $G$ on $n$ vertices, with specified nodes $s$ and $t$, and a positive integer $k$, the goal is to determine if $G$ has an $st$-path of length exactly $\text{dist}(s, t) +…