相关论文: Speeding up Routing Schedules on Aisle-Graphs with…
In this paper, we address the problem of scheduling a set of robots to complete tasks in a laboratory environment, modelled as a graph, while avoiding collisions. We analyze the dynamic programming algorithm (PA) introduced in…
In this paper, we look at the problem of finding the tour of maximum reward on an undirected graph where the reward is a submodular function, that has a curvature of $\kappa$, of the edges in the tour. This problem is known to be NP-hard.…
In the problem called single resource constraint scheduling, we are given $m$ identical machines and a set of jobs, each needing one machine to be processed as well as a share of a limited renewable resource $R$. A schedule of these jobs is…
We propose a novel receding horizon planner for an autonomous surface vehicle (ASV) performing path planning in urban waterways. Feasible paths are found by repeatedly generating and searching a graph reflecting the obstacles observed in…
In a series of papers, Avraham, Filtser, Kaplan, Katz, and Sharir (SoCG'14), Kaplan, Katz, Saban, and Sharir (ESA'23), and Katz, Saban, and Sharir (ESA'24) studied a class of geometric optimization problems -- including reverse shortest…
Occupancy grids are the most common framework when it comes to creating a map of the environment using a robot. This paper studies occupancy grids from the motion planning perspective and proposes a mapping method that provides richer data…
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…
We consider the problem of finding patrol schedules for $k$ robots to visit a given set of $n$ sites in a metric space. Each robot has the same maximum speed and the goal is to minimize the weighted maximum latency of any site, where the…
Temporal graphs are graphs where the edge set can change in each time step, and the vertex set stays the same. Exploration of temporal graphs whose snapshot in each time step is a connected graph, called connected temporal graphs, has been…
Consider the following generalization of the classic binary search problem: A searcher is required to find a hidden target vertex $x$ in a graph $G$. To do so, they iteratively perform queries to an oracle, each about a chosen vertex $v$.…
To manipulate objects in novel, unstructured environments, robots need task-oriented grasps that target object parts based on the given task. Geometry-based methods often struggle with visually defined parts, occlusions, and unseen objects.…
In this paper, we study the one-shot and lifelong versions of the Target Assignment and Path Finding problem in automated sortation centers, where each agent needs to constantly assign itself a sorting station, move to its assigned station…
We present a simple nonadaptive randomized algorithm that estimates the number of edges in a simple, unweighted, undirected graph, possibly containing isolated vertices, using only degree and random edge queries. For an $n$-vertex graph,…
We consider problems in which a mobile robot samples an unknown function defined over its operating space, so as to find a global optimum of this function. The path traveled by the robot matters, since it influences energy and time…
We consider the problem of maximizing the algebraic connectivity of the communication graph in a network of mobile robots by moving them into appropriate positions. We define the Laplacian of the graph as dependent on the pairwise distance…
This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…
In the Single Source Replacement Paths (SSRP) problem we are given a graph $G = (V, E)$, and a shortest paths tree $\widehat{K}$ rooted at a node $s$, and the goal is to output for every node $t \in V$ and for every edge $e$ in…
The landscape of applications and subroutines relying on shortest path computations continues to grow steadily. This growth is driven by the undeniable success of shortest path algorithms in theory and practice. It also introduces new…
The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
A simple-triangle graph is the intersection graph of triangles that are defined by a point on a horizontal line and an interval on another horizontal line. The time complexity of the recognition problem for simple-triangle graphs was a…