Minimization of decision trees is a well studied problem. In this work, we introduce two new problems related to minimization of decision trees. The problems are called minimum verification set (MinVS) and minimum path decision tree (MinPathDT) problems. Decision tree problems ask the question “What is the unknown given object?”. MinVS problem on the other hand asks the question “Is the unknown...

In this paper, different Multirobot exploration algorithms and their comparison has been presented. These algorithms, which have been taken into consideration, are dependent on different parameters. Collectively there are five parameters Minimum distance, Minimum time, Cooperation for avoiding collision, Low cost communication and Optimization of the path for effective mapping and localization....

Dynamic time warping is not suitable for on-line applications because it requires complete knowledge of both series before the alignment of the first elements can be computed. We present a novel online time warping algorithm which has linear time and space costs, and performs incremental alignment of two series as one is received in real time. This algorithm is applied to the alignment of audio...

We propose a new sampling-based path planning algorithm, the Optimal Minimum Risk Rapidly-Exploring Random Tree (MR-RRT*), that plans minimum risk paths in accordance with primary and secondary cost criteria. The primary cost criterion is a user-defined measure of accumulated risk, which may represent proximity to obstacles, exposure to threats, or similar. Risk is only penalized in areas of th...

Let G = (V, E) be a graph which models a set of wireless devices (nodes V ) that can communicate by means of multiple radio interfaces, according to proximity and common interfaces (edges E). The problem of switching on (activating) the minimum cost set of interfaces at the nodes in order to guarantee the coverage of G was recently studied. A connection is covered (activated) when the endpoints...

We describe an O(nh min{log U, n log n}) capacity scaling algorithm for the minimum cost submodular flow problem. Our algorithm modifies and extends the Edmonds–Karp capacity scaling algorithm for minimum cost flow to solve the minimum cost submodular flow problem. The modification entails scaling a relaxation parameter δ. Capacities are relaxed by attaching a complete directed graph with unifo...

Path optimization is required for those connection rerouting schemes where the path after an inter-switch handoff is not optimal. In this paper, we evaluate the performance of three path optimization schemes (namely: exponential, periodic, and Bernoulli) for the two-phase inter-switch handoff protocol. Using analytical modeling and simulation, we determine the optimal operating point and the mi...

This paper presents characterization of shortest paths for differentialdrive mobile robots with classifying solutions in the spirit of Dubins curves and Reeds-Shepp curves for car-like robots. Not only optimal paths for mobile robots are interesting with respect to the optimized criteria, but also they offer a family of motion primitives that can be used for motion planning in the presence of o...

This paper presents a framework for robot path planning based on the A* search algorithm in the presence of dynamically expanding obstacles. The overall method follows Cellular Automata (CA) based rules, exploiting the discrete nature of CAs for both obstacle and robot state spaces. For the search strategy, the discrete properties of the A* algorithm were utilized, allowing a seamless merging o...