相关论文: Fast Deterministic Gathering with Detection on Arb…

We describe approximation algorithms in Linial's classic LOCAL model of distributed computing to find maximum-weight matchings in a hypergraph of rank $r$. Our main result is a deterministic algorithm to generate a matching which is an…

We show that the $(degree+1)$-list coloring problem can be solved deterministically in $O(D \cdot \log n \cdot\log^2\Delta)$ rounds in the \CONGEST model, where $D$ is the diameter of the graph, $n$ the number of nodes, and $\Delta$ the…

We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…

In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…

Robots in the real world frequently come across identical objects in dense clutter. When evaluating grasp poses in these scenarios, a target-driven grasping system requires knowledge of spatial relations between scene objects (e.g.,…

Using mobile robots for autonomous patrolling of environments to prevent intrusions is a topic of increasing practical relevance. One of the most challenging scientific issues is the problem of finding effective patrolling strategies that,…

We consider the problem of finding an edge in a hidden undirected graph $G = (V, E)$ with $n$ vertices, in a model where we only allowed queries that ask whether or not a subset of vertices contains an edge. We study the non-adaptive model…

Dynamic trees are a well-studied and fundamental building block of dynamic graph algorithms dating back to the seminal work of Sleator and Tarjan [STOC'81, (1981), pp. 114-122]. The problem is to maintain a tree subject to online edge…

In the study of deterministic distributed algorithms it is commonly assumed that each node has a unique $O(\log n)$-bit identifier. We prove that for a general class of graph problems, local algorithms (constant-time distributed algorithms)…

Detecting if a graph contains a $k$-Clique is one of the most fundamental problems in computer science. The asymptotically fastest algorithm runs in time $O(n^{\omega k/3})$, where $\omega$ is the exponent of Boolean matrix multiplication.…

In this paper we study the dynamic versions of two basic graph problems: Minimum Dominating Set and its variant Minimum Connected Dominating Set. For those two problems, we present algorithms that maintain a solution under edge insertions…

We present a decentralized algorithm to achieve segregation into an arbitrary number of groups with swarms of autonomous robots. The distinguishing feature of our approach is in the minimalistic assumptions on which it is based.…

We solve, in a fully decentralised way (\ie with no message passing), the classic problem of colouring a graph. We propose a novel algorithm that is automatically responsive to topology changes, and we prove that it converges quickly to a…

We revisit the classic broadcast problem, wherein we have $k$ messages, each composed of $O(\log{n})$ bits, distributed arbitrarily across a network. The objective is to broadcast these messages to all nodes in the network. In the…

We consider the classical Minimum Balanced Cut problem: given a graph $G$, compute a partition of its vertices into two subsets of roughly equal volume, while minimizing the number of edges connecting the subsets. We present the first {\em…

We study the problem of optimal leader selection in consensus networks with noisy relative information. The objective is to identify the set of $k$ leaders that minimizes the formation's deviation from the desired trajectory established by…

We examine the problem of gathering $k \geq 2$ agents (or multi-agent rendezvous) in dynamic graphs which may change in every synchronous round but remain always connected ($1$-interval connectivity) [KLO10]. The agents are identical and…

We present a unified formal framework for expressing mobile robots models, protocols, and proofs, and devise a protocol design/proof methodology dedicated to mobile robots that takes advantage of this formal framework. As a case study, we…

Graph spanners are fundamental graph structures with a wide range of applications in distributed networks. We consider a standard synchronous message passing model where in each round $O(\log n)$ bits can be transmitted over every edge (the…

We introduce a general class of algorithms and supply a number of general results useful for analysing these algorithms when applied to regular graphs of large girth. As a result, we can transfer a number of results proved for random…