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This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems involve multiple, similar-geometry objects placed on a flat, horizontal surface,…
We initiate the study of the parameterized complexity of the {\sc Collective Graph Exploration} ({\sc CGE}) problem. In {\sc CGE}, the input consists of an undirected connected graph $G$ and a collection of $k$ robots, initially placed at…
{\em Partial domination problem} is a generalization of the {\em minimum dominating set problem} on graphs. Here, instead of dominating all the nodes, one asks to dominate at least a fraction of the nodes of the given graph by choosing a…
Cosmological models that are locally consistent with general relativity and the standard model in which an object transported around the universe undergoes P, C and CP transformations, are constructed. This leads to generalization of the…
Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…
We study a generalized motion planning problem involving multiple autonomous robots navigating in a $d$-dimensional Euclidean space in the presence of a set of obstacles whose positions are unknown a priori. Each robot is required to visit…
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…
In manipulation tasks, a robot interacts with movable object(s). The configuration space in manipulation planning is thus the Cartesian product of the configuration space of the robot with those of the movable objects. It is the complex…
Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The…
Throttling in graphs optimizes a sum or product of resources used, such as the number of vertices in an initial set, and time required, such as the propagation time, to complete a given task. We introduce a new technique to establish sharp…
We study the computability and complexity of the exploration problem in a class of highly dynamic graphs: periodically varying (PV) graphs, where the edges exist only at some (unknown) times defined by the periodic movements of carriers.…
Given a graph whose arc traversal times vary over time, the Time-Dependent Travelling Salesman Problem consists in finding a Hamiltonian tour of least total duration covering the vertices of the graph. The main goal of this work is to…
In the gathering problem, n autonomous robots have to meet on a single point. We consider the gathering of a closed chain of point-shaped, anonymous robots on a grid. The robots only have local knowledge about a constant number of…
We present a general approach for the formulation of equations of motion for compact objects in general relativistic theories. The particle is assumed to be moving in a geometric background which in turn is asymptotically flat. Our approach…
We consider three related problems of robot movement in arbitrary dimensions: coverage, search, and navigation. For each problem, a spherical robot is asked to accomplish a motion-related task in an unknown environment whose geometry is…
We introduce a compactification of the group of rigid motions in 3-space derived from the Study model for this group. We use this compactifi-cation in robot kinematics, by considering the boundary of the configuration space of a robot. We…
We present exponential and super factorial lower bounds on the number of Hamiltonian cycles passing through any edge of the basis graphs of a graphic, generalized Catalan and uniform matroids. All lower bounds were obtained by a common…
Large optimal transport problems can be approached via domain decomposition, i.e. by iteratively solving small partial problems independently and in parallel. Convergence to the global minimizers under suitable assumptions has been shown in…
This paper presents a new extension of the classical Heron problem, termed the generalized $(k,m)$-Heron problem, which seeks an optimal configuration among $k$ feasible and $m$ target non-empty closed convex sets in $\mathbb{R}^n$. The…