相关论文: How to Meet Asynchronously at Polynomial Cost
In this paper, we plan missions for a fleet of agents in undirected graphs, such as grids, with multiple goals. In contrast to regular multi-agent path-finding, the solver finds and updates the assignment of goals to the agents on its own.…
This paper addresses the task of joint multi-agent perception and planning, especially as it relates to the real-world challenge of collision-free navigation for connected self-driving vehicles. For this task, several communication-enabled…
We present a unified framework for designing deterministic monotone polynomial time approximation schemes (PTAS's) for a wide class of scheduling problems on uniformly related machines. This class includes (among others) minimizing the…
We consider a natural generalization of classical scheduling problems in which using a time unit for processing a job causes some time-dependent cost which must be paid in addition to the standard scheduling cost. We study the scheduling…
Traveling salesman problem is a NP-hard problem. Until now, researchers have not found a polynomial time algorithm for traveling salesman problem. Among the existing algorithms, dynamic programming algorithm can solve the problem in time…
In this paper we study the tradeoff between parallelism and communication cost in a map-reduce computation. For any problem that is not "embarrassingly parallel," the finer we partition the work of the reducers so that more parallelism can…
This paper studies a team coordination problem in a graph environment. Specifically, we incorporate "support" action which an agent can take to reduce the cost for its teammate to traverse some edges that have higher costs otherwise. Due to…
This paper investigates the task assignment problem for multiple dispersed robots constrained by limited communication range. The robots are initially randomly distributed and need to visit several target locations while minimizing the…
We study a continuous-time, infinite-horizon dynamic bipartite matching problem. Suppliers arrive according to a Poisson process; while waiting, they may abandon the queue at a uniform rate. Customers on the other hand must be matched upon…
We consider two mobile oblivious robots that evolve in a continuous Euclidean space. We require the two robots to solve the rendezvous problem (meeting in finite time at the same location, not known beforehand) despite the possibility that…
We study the allocation of indivisible goods under conflicting constraints, represented by a graph. In this framework, vertices correspond to goods and edges correspond to conflicts between a pair of goods. Each agent is allocated an…
We study various versions of the problem of scheduling platoons of autonomous vehicles through an unregulated intersection, where an algorithm must schedule which platoons should wait so that others can go through, so as to minimize the…
We consider the fair allocation of indivisible items to several agents and add a graph theoretical perspective to this classical problem. Namely, we introduce an incompatibility relation between pairs of items described in terms of a…
We study the problem of leader election among mobile agents operating in an arbitrary network modeled as an undirected graph. Nodes of the network are unlabeled and all agents are identical. Hence the only way to elect a leader among agents…
We study service scheduling problems in a slotted system in which agents arrive with service requests according to a Bernoulli process and have to leave within two slots after arrival, service costs are quadratic in service rates, and there…
We describe a novel approach for computing collision-free \emph{global} trajectories for $p$ agents with specified initial and final configurations, based on an improved version of the alternating direction method of multipliers (ADMM).…
Two general algorithms based on opportunity costs are given for approximating a revenue-maximizing set of bids an auctioneer should accept, in a combinatorial auction in which each bidder offers a price for some subset of the available…
We consider k mobile agents initially located at distinct nodes of an undirected graph (on n nodes, with edge lengths) that have to deliver a single item from a given source node s to a given target node t. The agents can move along the…
Node counting on a graph is subject to some fundamental theoretical limitations, yet a solution to such problems is necessary in many applications of graph theory to real-world systems, such as collective robotics and distributed sensor…
In this work, we study the problem of dispersion of mobile robots on dynamic rings. The problem of dispersion of $n$ robots on an $n$ node graph, introduced by Augustine and Moses Jr. [1], requires robots to coordinate with each other and…