相关论文: Exploration of Periodically Varying Graphs
In this paper, we study the problem of pathfinding on traversal-dependent graphs, i.e., graphs whose edges change depending on the previously visited vertices. In particular, we study \emph{self-deleting graphs}, introduced by Carmesin et…
Autonomous vehicle navigation in structured environments requires planners capable of generating time-optimal, collision-free trajectories that satisfy dynamic and kinematic constraints. We introduce V*, a graph-based motion planner that…
Temporal graphs are graphs whose topology is subject to discrete changes over time. Given a static underlying graph $G$, a temporal graph is represented by assigning a set of integer time-labels to every edge $e$ of $G$, indicating the…
In a temporal network with discrete time-labels on its edges, entities and information can only ``flow'' along sequences of edges whose time-labels are non-decreasing (resp. increasing), i.e. along temporal (resp. strict temporal) paths.…
Finding paths in graphs is a fundamental graph-theoretic task. In this work, we we are concerned with finding a path with some constraints on its length and the number of vertices neighboring the path, that is, being outside of and incident…
Near ubiquitous mobile computing has led to intense interest in dynamic graph theory. This provides a new and challenging setting for algorithmics and complexity theory. For any graph-based problem, the rapid evolution of a (possibly…
Consider an undirected graph $G = (VG, EG)$ and a set of six \emph{terminals} $T = \set{s_1, s_2, s_3, t_1, t_2, t_3} \subseteq VG$. The goal is to find a collection $\calP$ of three edge-disjoint paths $P_1$, $P_2$, and $P_3$, where $P_i$…
A hybrid map representation, which consists of a modified generalized Voronoi Diagram (GVD)-based topological map and a grid-based metric map, is proposed to facilitate a new frontier-driven exploration strategy. Exploration frontiers are…
We consider the minimum cost intervention design problem: Given the essential graph of a causal graph and a cost to intervene on a variable, identify the set of interventions with minimum total cost that can learn any causal graph with the…
In a temporal graph the edge set dynamically changes over time according to a set of time-labels associated with each edge that indicates at which time-steps the edge is available. Two vertices are connected if there is a path connecting…
We consider the problem of characterizing graphs with the maximum spectral radius among the connected graphs with given numbers of vertices and edges. It is well-known that the candidates for extremal graphs are threshold graphs, but only a…
Motivated by a relaxed notion of the celebrated Hamiltonian cycle, this paper investigates its variant, parity Hamiltonian cycle (PHC): A PHC of a graph is a closed walk which visits every vertex an odd number of times, where we remark that…
Temporal graphs provide a useful model for many real-world networks. Unfortunately the majority of algorithmic problems we might consider on such graphs are intractable. There has been recent progress in defining structural parameters which…
We propose a novel framework for learning time-varying graphs from spatiotemporal measurements. Given an appropriate prior on the temporal behavior of signals, our proposed method can estimate time-varying graphs from a small number of…
A ride sharing problem is considered where we are given a graph, whose edges are equipped with a travel cost, plus a set of objects, each associated with a transportation request given by a pair of origin and destination nodes. A vehicle…
In this work we consider temporal graphs, i.e. graphs, each edge of which is assigned a set of discrete time-labels drawn from a set of integers. The labels of an edge indicate the discrete moments in time at which the edge is available. We…
Consider the following problem: given a graph with edge costs and a subset Q of vertices, find a minimum-cost subgraph in which there are two edge-disjoint paths connecting every pair of vertices in Q. The problem is a failure-resilient…
The subject of this work is the patrolling of an environment with the aid of a team of autonomous agents. We consider both the design of open-loop trajectories with optimal properties, and of distributed control laws converging to optimal…
We study the optimization of navigational graph queries, i.e., queries which combine recursive and pattern-matching fragments. Current approaches to their evaluation are not effective in practice. Towards addressing this, we present a…
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…