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Multi-agent path finding (MAPF) is the problem of finding paths for multiple agents such that they do not collide. This problem manifests in numerous real-world applications such as controlling transportation robots in automated warehouses,…
The study of optimal decision trees has gained increasing attention in recent years; however, despite substantial progress, it still suffers from two major challenges: First, trees constructed by existing optimal decision tree (ODT)…
Graph pebbling is a network optimization model for transporting discrete resources that are consumed in transit: the movement of two pebbles across an edge consumes one of the pebbles. The pebbling number of a graph is the fewest number of…
This paper studies a fundamental algorithmic problem related to the design of demand-aware networks: networks whose topologies adjust toward the traffic patterns they serve, in an online manner. The goal is to strike a tradeoff between the…
Prompt agents have recently emerged as a promising paradigm for automated prompt optimization, framing prompt discovery as a sequential decision-making problem over a structured prompt space. While this formulation enables the use of…
In this work we study a well-known and challenging problem of Multi-agent Pathfinding, when a set of agents is confined to a graph, each agent is assigned a unique start and goal vertices and the task is to find a set of collision-free…
Given a connected, undirected graph whose edges are labelled (or coloured), the minimum labelling spanning tree (MLST) problem seeks a spanning tree whose edges have the smallest number of distinct labels (or colours). In recent work, the…
Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…
This paper investigates the problem of trajectory planning for autonomous vehicles at unsignalized intersections, specifically focusing on scenarios where the vehicle lacks the right of way and yet must cross safely. To address this issue,…
Given a set of points in the Euclidean plane, the Euclidean \textit{$\delta$-minimum spanning tree} ($\delta$-MST) problem is the problem of finding a spanning tree with maximum degree no more than $\delta$ for the set of points such the…
We study upward planar straight-line embeddings (UPSE) of directed trees on given point sets. The given point set $S$ has size at least the number of vertices in the tree. For the special case where the tree is a path $P$ we show that: (a)…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
In this paper, we present a method to initialize at a feasible point and unfailingly solve a non-convex optimization problem in which a set-point motion is planned for a multi-link manipulator under state and control constraints. We…
We study the problem of efficient adversarial attacks on tree based ensembles such as gradient boosting decision trees (GBDTs) and random forests (RFs). Since these models are non-continuous step functions and gradient does not exist, most…
Robots often need to solve path planning problems where essential and discrete aspects of the environment are partially observable. This introduces a multi-modality, where the robot must be able to observe and infer the state of its…
We tackle the problem of goal-directed graph construction: given a starting graph, a budget of modifications, and a global objective function, the aim is to find a set of edges whose addition to the graph achieves the maximum improvement in…
This paper explores the application of Hurlbert's Linear Optimization Technique to determine bounds on pebbling numbers. By applying Hurlbert's weight functions and optimization methods, we derive upper bounds for specific graph families.…
A widely used method for determining the similarity of two labeled trees is to compute a maximum agreement subtree of the two trees. Previous work on this similarity measure is only concerned with the comparison of labeled trees of two…
We consider an Anonymous Multi-Agent Path-Finding (AMAPF) problem where the set of agents is confined to a graph, a set of goal vertices is given and each of these vertices has to be reached by some agent. The problem is to find an…
This paper introduces a graph-based, potential-guided method for path planning problems in unknown environments, where obstacles are unknown until the robots are in close proximity to the obstacle locations. Inspired by optimal transport…