4 papers · 1 filter
Unified Branch-and-Bound Search for the Steiner Traveling Salesman Problem on Graphs of Convex Sets
Jingtao Tang, Hang Ma
We formalize the Steiner Traveling Salesman Problem (Steiner-TSP) on Graphs of Convex Sets (GCS), which seeks a minimum-cost closed trajectory through required convex sets while al…
GHOST: Solving the Traveling Salesman Problem on Graphs of Convex Sets
Jingtao Tang, Hang Ma
We study GCS-TSP, a new variant of the Traveling Salesman Problem (TSP) defined over a Graph of Convex Sets (GCS) -- a powerful representation for trajectory planning that decompos…
Multi-Robot Connected Fermat Spiral Coverage
Jingtao Tang, Hang Ma
We introduce the Multi-Robot Connected Fermat Spiral (MCFS), a novel algorithmic framework for Multi-Robot Coverage Path Planning (MCPP) that adapts Connected Fermat Spiral (CFS) f…
A Competitive Analysis of Online Multi-Agent Path Finding
Hang Ma
We study online Multi-Agent Path Finding (MAPF), where new agents are constantly revealed over time and all agents must find collision-free paths to their given goal locations. We…