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We present a comparative study of the application of a recently introduced heuristic algorithm to the optimization of transport on three major types of complex networks. The algorithm balances network traffic iteratively by minimizing the…

We describe an exact algorithm for finding the best 2-OPT move which, experimentally, was observed to be much faster than the standard quadratic approach. To analyze its average-case complexity, we introduce a family of heuristic procedures…

In this paper, we propose a novel methodology for path planning and scheduling for multi-robot navigation that is based on optimal transport theory and model predictive control. We consider a setup where $N$ robots are tasked to navigate to…

Robots operating in changing environments either predict obstacle changes and/or plan quickly enough to react to them. Predictive approaches require a strong prior about the position and motion of obstacles. Reactive approaches require no…

Destination prediction is an essential task in a variety of mobile applications. In this paper, we optimize the matrix operation and adapt a semi-lazy framework to improve the prediction accuracy and efficiency of a state-of-the-art…

We propose a learning algorithm for solving the traveling salesman problem based on a simple strategy of trial and adaptation: i) A tour is selected by choosing cities probabilistically according to the ``synaptic'' strengths between…

We study the problem of optimal multi-robot path planning on graphs (MPP) over four distinct minimization objectives: the total arrival time, the makespan (last arrival time), the total distance, and the maximum (single-robot traveled)…

Integrating artificial intelligence (AI) into sampling-based motion planning provides new possibilities for improving autonomous navigation efficiency. In this paper, three algorithms, namely RRT*, Neural RRT*, and Neural Informed RRT*, are…

Teams of mobile [aerial, ground, or aquatic] robots have applications in resource delivery, patrolling, information-gathering, agriculture, forest fire fighting, chemical plume source localization and mapping, and search-and-rescue. Robot…

We define a search problem on trees that closely captures the backtracking behavior of all current practical graph isomorphism algorithms. Given two trees with colored leaves, the goal is to find two leaves of matching color, one in each of…

This paper considers the problem of finding a quickest path between two points in the Euclidean plane in the presence of a transportation network. A transportation network consists of a planar network where each road (edge) has an…

Optimal transportation provides a means of lifting distances between points on a geometric domain to distances between signals over the domain, expressed as probability distributions. On a graph, transportation problems can be used to…

Path planning for a robot is one of the major problems in the area of robotics. When a robot is given a task in the form of a Linear Temporal Logic (LTL) specification such that the task needs to be carried out repetitively, we want the…

A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…

Following [21, 23], the present work investigates a new relative entropy-regularized algorithm for solving the optimal transport on a graph problem within the randomized shortest paths formalism. More precisely, a unit flow is injected into…

The problem of adversarial multi-robot patrol has gained interest in recent years, mainly due to its immediate relevance to various security applications. In this problem, robots are required to repeatedly visit a target area in a way that…

This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…

In this paper we address several constrained transportation optimization problems (e.g. vehicle routing, shortest Hamiltonian path), for which we present novel algorithmic solutions and extensions, considering several optimization…

This study examines the time complexities of the unbalanced optimal transport problems from an algorithmic perspective for the first time. We reveal which problems in unbalanced optimal transport can/cannot be solved efficiently.…

Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…