相关论文: Speeding up Routing Schedules on Aisle-Graphs with…

In this paper, we study the problem of map matching with travel time constraints. Given a sequence of $k$ spatio-temporal measurements and an embedded path graph with travel time costs, the goal is to snap each measurement to a close-by…

The \textsc{Arbitrary Pattern Formation} (\textsc{Apf}) is a widely studied in distributed computing for swarm robots. This problem asks to design a distributed algorithm that allows a team of identical, autonomous mobile robots to form any…

Graph alignment aims at finding the vertex correspondence between two correlated graphs, a task that frequently occurs in graph mining applications such as social network analysis. Attributed graph alignment is a variant of graph alignment,…

We develop a single pass method for approximating the solution to an anisotropic eikonal equation related to the anisotropic min-time optimal trajectory problem. Ordered Upwind Method (OUM) solves this equation, which is a single-pass…

We present faster algorithms for approximate maximum flow in undirected graphs with good separator structures, such as bounded genus, minor free, and geometric graphs. Given such a graph with $n$ vertices, $m$ edges along with a recursive…

We present a novel POMDP problem formulation for a robot that must autonomously decide where to go to collect new and scientifically relevant images given a limited ability to communicate with its human operator. From this formulation we…

The problem of graph Reachability is to decide whether there is a path from one vertex to another in a given graph. In this paper, we study the Reachability problem on three distinct graph families - intersection graphs of Jordan regions,…

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…

This paper proposes an optimization-based approach to predict trajectories of autonomous race cars. We assume that the observed trajectory is the result of an optimization problem that trades off path progress against acceleration and jerk…

We present a novel approach called Optimized Directed Roadmap Graph (ODRM). It is a method to build a directed roadmap graph that allows for collision avoidance in multi-robot navigation. This is a highly relevant problem, for example for…

The One Sided Crossing Minimization (OSCM) problem is an optimization problem in graph drawing that aims to minimize the number of edge crossings in bipartite graph layouts. It has practical applications in areas such as network…

We consider dynamic algorithms for maintaining Single-Source Reachability (SSR) and approximate Single-Source Shortest Paths (SSSP) on $n$-node $m$-edge directed graphs under edge deletions (decremental algorithms). The previous fastest…

We consider an off-line optimisation problem where $k$ robots must service $n$ requests on a single line. A request $i$ has weight $w_i$ and takes place at time $t_i$ at location $d_i$ on the line. A robot can service a request and collect…

Utilizing graph algorithms is a common activity in computer science. Algorithms that perform computations on large graphs are not always efficient. This work investigates the Single-Source Shortest Path (SSSP) problem, which is considered…

Inspired by the recent 11th Global Trajectory Optimisation Competition, this paper presents the asteroid routing problem (ARP) as a realistic benchmark of algorithms for expensive bound-constrained black-box optimization in permutation…

Given an undirected, anonymous, port-labeled graph of $n$ memory-less nodes, $m$ edges, and degree $\Delta$, we consider the problem of dispersing $k\leq n$ robots (or tokens) positioned initially arbitrarily on one or more nodes of the…

In this work, we fully define the existing relationships between traditional optimality criteria and the connectivity of the underlying pose-graph in Active SLAM, characterizing, therefore, the connection between Graph Theory and the Theory…

The introduction and study of dispersing mobile robots across the nodes of an anonymous graph have recently gained traction and have been explored within various graph classes and settings. While optimal dispersion solution was established…

Consider an agent exploring an unknown graph in search of some goal state. As it walks around the graph, it learns the nodes and their neighbors. The agent only knows where the goal state is when it reaches it. How do we reach this goal…

One of the most basic graph problems, All-Pairs Shortest Paths (APSP) is known to be solvable in $n^{3-o(1)}$ time, and it is widely open whether it has an $O(n^{3-\epsilon})$ time algorithm for $\epsilon > 0$. To better understand APSP,…