We study the computational complexity of multi-agent path finding (MAPF). Given a graph $
G $ and a set of agents, each having a start and target vertex, the goal is to find collision-free …

We consider the problem of motion planning in the presence of uncertain obstacles,
modeled as polytopes with Gaussian-distributed faces (PGDFs). A number of practical …

Integer programming (IP) has proven to be highly effective in solving many path-based
optimization problems in robotics. However, the applications of IP are generally done in an …

We study the problem of finding shortest paths in the plane among h convex obstacles,
where the path is allowed to pass through (violate) up to k obstacles, for k ≤ hk≤ h …

Motion planning is a fundamental capability in robotics applications. Real-world scenarios
can introduce uncertainty to the motion planning problem. In this work we study environment …

Given a set of obstacles and two points, is there a path between the two points that does not
cross more than $ k $ different obstacles? This is a fundamental problem that has …

In the agricultural sector, there are ways in which the productive structure of farms can be
greatly adapted to reduce the risk and overexploitation of available resources to increase …

The minimum constraint removal problem seeks to find the minimum number of constraints,
ie, obstacles, that need to be removed to connect a start to a goal location with a collision …

Given a set of obstacles and two points in the plane, is there a path between the two points
that does not cross more than k different obstacles? Equivalently, can we remove k …

Suppose we are given a pair of points $ s, t $ and a set $ S $ of $ n $ geometric objects in
the plane, called obstacles. We show that in polynomial time one can construct an auxiliary …