相关论文: Improved Algorithms for the Evacuation Route Plann…
Estimating city evacuation time is a non-trivial problem due to the interaction between thousands of individual agents, giving rise to various collective phenomena, such as bottleneck formation, intermittent flow and stop-and-go waves. We…
A total of more than 3400 public shootings have occurred in the United States between 2016 and 2022. Among these, 25.1% of them took place in an educational institution, 29.4% at the workplace including office buildings, 19.6% in retail…
In recent years modelling crowd and evacuation dynamics has become very important, with increasing huge numbers of people gathering around the world for many reasons and events. The fact that our global population grows dramatically every…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
Cyber Physical Systems (CPS) are becoming ubiquitous and affect the physical world, yet security is seldom at the forefront of their design. This is especially true of robotic control algorithms which seldom consider the effect of a cyber…
The Elementary Shortest-Path Problem(ESPP) seeks a minimum cost path from s to t that visits each vertex at most once. The presence of negative-cost cycles renders the problem NP-hard. We present a probabilistic method for finding…
We present a unified probabilistic framework for simultaneous trajectory estimation and planning (STEAP). Estimation and planning problems are usually considered separately, however, within our framework we show that solving them…
Consider a simple finite graph and its nodes to represent identical water barrels (containing different amounts of water) on a level plane. Each edge corresponds to a (locked, water-filled) pipe connecting two barrels below the plane. We…
The Stacker Crane Problem (SCP) is a variant of the Traveling Salesman Problem. In SCP, pairs of pickup and delivery points are designated on a graph, and a crane must visit these points to move objects from each pickup location to its…
In the distributed backup-placement problem each node of a network has to select one neighbor, such that the maximum number of nodes that make the same selection is minimized. This is a natural relaxation of the perfect matching problem, in…
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 define a graph-based rate optimization problem and consider its computation, which provides a unified approach to the computation of various theoretical limits, including the (conditional) graph entropy, rate-distortion functions and…
As robotic systems continue to address emerging issues in areas such as logistics, mobility, manufacturing, and disaster response, it is increasingly important to rapidly generate safe and energy-efficient trajectories. In this article, we…
The Container Relocation Problem (CRP) is concerned with finding a sequence of moves of containers that minimizes the number of relocations needed to retrieve all containers respecting a given order of retrieval. While the problem is known…
Coordinating agents through hazardous environments, such as aid-delivering drones navigating conflict zones or field robots traversing deployment areas filled with obstacles, poses fundamental planning challenges. We introduce and analyze…
In this paper, a robot navigating an environment shared with humans is considered, and a cost function that can be exploited in $\text{RRT}^\text{X}$, a randomized sampling-based replanning algorithm that guarantees asymptotic optimality,…
We provide a rearrangement based algorithm for fast detection of subgraphs of $k$ vertices with long escape times for directed or undirected networks. Complementing other notions of densest subgraphs and graph cuts, our method is based on…
Searches are conducted to find missing persons and/or objects given uncertain information, imperfect observers and large search areas in Search and Rescue (SAR). In many scenarios, such as Maritime SAR, expected survival times are short and…
Human expectations arise from their understanding of others and the world. In the context of human-AI interaction, this understanding may not align with reality, leading to the AI agent failing to meet expectations and compromising team…
Routing optimization is a relevant problem in many contexts. Solving directly this type of optimization problem is often computationally unfeasible. Recent studies suggest that one can instead turn this problem into one of solving a…