相关论文: Feasibility of Motion Planning on Acyclic and Stro…
Automated driving in urban scenarios requires efficient planning algorithms able to handle complex situations in real-time. A popular approach is to use graph-based planning methods in order to obtain a rough trajectory which is…
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…
Directed graphs are widely used to model data flow and execution dependencies in streaming applications. This enables the utilization of graph partitioning algorithms for the problem of parallelizing computation for multiprocessor…
When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…
We study random graph models for directed acyclic graphs, an important class of networks that includes citation networks, food webs, and feed-forward neural networks among others. We propose two specific models, roughly analogous to the…
A polynomial-time exact algorithm for counting the number of directed acyclic graphs in a Markov equivalence class was recently given by Wien\"obst, Bannach, and Li\'skiewicz (AAAI 2021). In this paper, we consider the more general problem…
Acyclic and cyclic orientations of an undirected graph have been widely studied for their importance: an orientation is acyclic if it assigns a direction to each edge so as to obtain a directed acyclic graph (DAG) with the same vertex set;…
A mixed graph $G$ is a graph that consists of both undirected and directed edges. An orientation of $G$ is formed by orienting all the undirected edges of $G$, i.e., converting each undirected edge $\{u,v\}$ into a directed edge that is…
In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…
We study distributed computation in synchronous dynamic networks where an omniscient adversary controls the unidirectional communication links. Its behavior is modeled as a sequence of directed graphs representing the active (i.e. timely)…
Certifying feasibility in decision-making, critical in many industries, can be framed as a constraint satisfaction problem. This paper focuses on characterising a subset of parameter values from an a priori set that satisfy constraints on a…
Most existing motion planning algorithms assume that a map (of some quality) is fully determined prior to generating a motion plan. In many emerging applications of robotics, e.g., fast-moving agile aerial robots with constrained embedded…
A directed acyclic hypergraph is a generalized concept of a directed acyclic graph, where each hyperedge can contain an arbitrary number of tails and heads. Directed hypergraphs can be used to model data flow and execution dependencies in…
We study the parameterized complexity of a generalization of the coordinated motion planning problem on graphs, where the goal is to route a specified subset of a given set of $k$ robots to their destinations with the aim of minimizing the…
Recently, one has seen a surge of interest in developing such methods including ones for learning such representations for (undirected) graphs (while preserving important properties). However, most of the work to date on embedding graphs…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
In graph realization problems one is given a degree sequence and the task is to decide whether there is a graph whose vertex degrees match to the given sequence. This realization problem is known to be polynomial-time solvable when the…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
In the Metric Dimension problem, one asks for a minimum-size set $R$ of vertices such that for any pair of vertices of the graph, there is a vertex from $R$ whose two distances to the vertices of the pair are distinct. This problem has…
Graphs are widely used to model execution dependencies in applications. In particular, the NP-complete problem of partitioning a graph under constraints receives enormous attention by researchers because of its applicability in…