相关论文: An optimal algorithm for geodesic mutual visibilit…

If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…

A common way to accelerate shortest path algorithms on graphs is the use of a bidirectional search, which simultaneously explores the graph from the start and the destination. It has been observed recently that this strategy performs…

In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…

We consider the following two algorithmic problems: given a graph $G$ and a subgraph $H\subseteq G$, decide whether $H$ is an isometric or a geodesically convex subgraph of $G$. It is relatively easy to see that the problems can be solved…

Team Coordination on Graphs with Risky Edges (TCGRE) is a recently emerged problem, in which a robot team collectively reduces graph traversal cost through support from one robot to another when the latter traverses a risky edge. Resembling…

We consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network intermittently connected. We abstract the task locations into…

We consider the problem of embedding the nodes of a hypergraph into Euclidean space under the assumption that the interactions arose through closeness to unknown hyperedge centres. In this way, we tackle the inverse problem associated with…

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…

We study the problem of determining optimal coordinated motions for two disc robots in an otherwise obstacle-free plane. Using the total path length traced by the two disc centres as a measure of distance, we give an exact characterization…

We study the problem of determining coordinated motions, of minimum total length, for two arbitrary convex centrally-symmetric (CCS) robots in an otherwise obstacle-free plane. Using the total path length traced by the two robot centres as…

Hyperbolic networks are supposed to be congruent with their underlying latent geometry and following geodesics in the hyperbolic space is believed equivalent to navigate through topological shortest paths (TSP). This assumption of…

Metric data plays an important role in various settings such as metric-based indexing, clustering, classification, and approximation algorithms in general. Due to measurement error, noise, or an inability to completely gather all the data,…

In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onboard pose estimates and maps are maintained, which are then…

We address the Multi-Robot Motion Planning (MRMP) problem of computing collision-free trajectories for multiple robots in shared continuous environments. While existing frameworks effectively decompose MRMP into single-robot subproblems,…

Collision detection between two convex shapes is an essential feature of any physics engine or robot motion planner. It has often been tackled as a computational geometry problem, with the Gilbert, Johnson and Keerthi (GJK) algorithm being…

We give efficient data-oblivious algorithms for several fundamental geometric problems that are relevant to geographic information systems, including planar convex hulls and all-nearest neighbors. Our methods are "data-oblivious" in that…

This paper proposes a geodesic-distance-based feature that encodes global information for improved video segmentation algorithms. The feature is a joint histogram of intensity and geodesic distances, where the geodesic distances are…

We propose a new model for formalizing reward collection problems on graphs with dynamically generated rewards which may appear and disappear based on a stochastic model. The *robot routing problem* is modeled as a graph whose nodes are…

Data-driven approaches have been proven effective in solving combinatorial optimization problems over graphs such as the traveling salesman problems and the vehicle routing problem. The rationale behind such methods is that the input…

Connected and automated vehicles have shown great potential in improving traffic mobility and reducing emissions, especially at unsignalized intersections. Previous research has shown that vehicle passing order is the key influencing factor…