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Low-cost mobile rovers often operate on uneven terrain where small bumps or tilts are difficult to perceive visually but can significantly affect locomotion stability. To address this problem, we explore a smartphone-based structured-light…
We revisit the complexity of the classical Interval Scheduling in the dynamic setting. In this problem, the goal is to maintain a set of intervals under insertions and deletions and report the size of the maximum size subset of pairwise…
Time Optimal Path Parametrization is the problem of minimizing the time interval during which an actuation constrained agent can traverse a given path. Recently, an efficient linear-time algorithm for solving this problem was proposed.…
While the design of optimal peak-to-peak controllers/observers for linear systems is known to be a difficult problem, this problem becomes interestingly much easier in the context of interval observers because of the positive nature of the…
We study the minimum diameter problem for a set of inexact points. By inexact, we mean that the precise location of the points is not known. Instead, the location of each point is restricted to a contineus region ($\impre$ model) or a…
Time series often appear in an additive hierarchical structure. In such cases, time series on higher levels are the sums of their subordinate time series. This hierarchical structure places a natural constraint on forecasts. However,…
The Orienteering Problem with Time Window and Delay (\OPTiWinD) is a variant of the online orienteering problem. A series of requests appear in various locations while a vehicle moves within the territory to serve them. Each request has a…
We present safe control of partially-observed linear time-varying systems in the presence of unknown and unpredictable process and measurement noise. We introduce a control algorithm that minimizes dynamic regret, i.e., that minimizes the…
We study the problem of visibility in polyhedral terrains in the presence of multiple viewpoints. We consider a triangulated terrain with $m>1$ viewpoints (or guards) located on the terrain surface. A point on the terrain is considered…
In this paper, we consider the rectilinear one-center problem on uncertain points in the plane. In this problem, we are given a set $P$ of $n$ (weighted) uncertain points in the plane and each uncertain point has $m$ possible locations each…
In this paper, we consider the inverse optimal control problem for the discrete-time linear quadratic regulator, over finite-time horizons. Given observations of the optimal trajectories, and optimal control inputs, to a linear…
Arising from structural graph theory, treewidth has become a focus of study in fixed-parameter tractable algorithms in various communities including combinatorics, integer-linear programming, and numerical analysis. Many NP-hard problems…
Dynamic time warping distance (DTW) is a widely used distance measure between time series. The best known algorithms for computing DTW run in near quadratic time, and conditional lower bounds prohibit the existence of significantly faster…
This paper studies the problem of steering a linear time-invariant system subject to state and input constraints towards a goal location that may be inferred only through partial observations. We assume mixed-observable settings, where the…
We present the first polynomial time algorithm for the f vertex fault tolerant spanner problem, which achieves almost optimal spanner size. Our algorithm for constructing f vertex fault tolerant spanner takes $O(k\cdot n\cdot m^2 \cdot W)$…
The Orthogonal Watchman Route Problem (OWRP) entails the search for the shortest path, known as the watchman route, that a robot must follow within a polygonal environment. The primary objective is to ensure that every point in the…
Given a parametrized family of finite frames, we consider the optimization problem of finding the member of this family whose coefficient space most closely contains a given data vector. This nonlinear least squares problem arises naturally…
Aligning partially overlapping point sets where there is no prior information about the value of the transformation is a challenging problem in computer vision. To achieve this goal, we first reduce the objective of the robust point…
This paper investigates the optimal ergodic sublinear convergence rate of the relaxed proximal point algorithm for solving monotone variational inequality problems. The exact worst case convergence rate is computed using the performance…
In this paper, an inexact proximal-point penalty method is studied for constrained optimization problems, where the objective function is non-convex, and the constraint functions can also be non-convex. The proposed method approximately…