Related papers: Optimal Unlabeled Pebble Motion on Trees and its A…
Graph pebbling is the study of moving discrete pebbles from certain initial distributions on the vertices of a graph to various target distributions via pebbling moves. A pebbling move removes two pebbles from a vertex and places one pebble…
High-level autonomy requires discrete and continuous reasoning to decide both what actions to take and how to execute them. Integrated Task and Motion Planning (TMP) algorithms solve these hybrid problems jointly to consider constraints…
This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered: one where every robot or object needs to reach a…
An algorithm on weighted graphs is called universally optimal if it is optimal for every input graph, in the worst case taken over all weight assignments. Informally, this means the algorithm is competitive even with algorithms that are…
In this paper, we present a learning approach to goal assignment and trajectory planning for unlabeled robots operating in 2D, obstacle-filled workspaces. More specifically, we tackle the unlabeled multi-robot motion planning problem with…
We introduce and investigate the approximability of the maximum binary tree problem (MBT) in directed and undirected graphs. The goal in MBT is to find a maximum-sized binary tree in a given graph. MBT is a natural variant of the…
During the last decade, incremental sampling-based motion planning algorithms, such as the Rapidly-exploring Random Trees (RRTs) have been shown to work well in practice and to possess theoretical guarantees such as probabilistic…
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…
This paper presents a novel algorithm, called MRRT, which uses multiple rapidly-exploring random trees for fast online replanning of autonomous vehicles in dynamic environments with moving obstacles. The proposed algorithm is built upon the…
The maximum common subtree isomorphism problem asks for the largest possible isomorphism between subtrees of two given input trees. This problem is a natural restriction of the maximum common subgraph problem, which is ${\sf NP}$-hard in…
In this work, we propose the Informed Batch Belief Trees (IBBT) algorithm for motion planning under motion and sensing uncertainties. The original stochastic motion planning problem is divided into a deterministic motion planning problem…
The reversible pebble game is a combinatorial game played on rooted DAGs. This game was introduced by Bennett (1989) motivated by applications in designing space efficient reversible algorithms. Recently, Chan (2013) showed that the…
Optimal transport provides a metric which quantifies the dissimilarity between probability measures. For measures supported in discrete metric spaces, finding the optimal transport distance has cubic time complexity in the size of the…
In p-median location interdiction the aim is to find a subset of edges in a graph, such that the objective value of the p-median problem in the same graph without the selected edges is as large as possible. We prove that this problem is…
Bandit based methods for tree search have recently gained popularity when applied to huge trees, e.g. in the game of go (Gelly et al., 2006). The UCT algorithm (Kocsis and Szepesvari, 2006), a tree search method based on Upper Confidence…
In this work, we develop the Batch Belief Trees (BBT) algorithm for motion planning under motion and sensing uncertainties. The algorithm interleaves between batch sampling, building a graph of nominal trajectories in the state space, and…
The largest common embeddable subtree problem asks for the largest possible tree embeddable into two input trees and generalizes the classical maximum common subtree problem. Several variants of the problem in labeled and unlabeled rooted…
Given a set $P$ of $n$ points that are moving in the plane, we consider the problem of computing a spanning tree for these moving points that does not change its combinatorial structure during the point movement. The objective is to…
This paper proposes the Real-Time Fast Marching Tree (RT-FMT), a real-time planning algorithm that features local and global path generation, multiple-query planning, and dynamic obstacle avoidance. During the search, RT-FMT quickly looks…
Multi Agent Path Finding (MAPF) seeks the optimal set of paths for multiple agents from respective start to goal locations such that no paths conflict. We address the MAPF problem for a fleet of hybrid-fuel unmanned aerial vehicles which…