robotics path planners

Abstract: In the restricted shortest paths problem, we are given an $n$-vertex $m$-edge directed graph $G$ whose edges are assigned two non-negative weights (or resources) called lengths and costs, a source vertex $s$, and a cost threshold $C$. The goal is to find, for each target vertex $t$, the length of the shortest $(s,t)$-path whose total cost is at most $C$. Ashvinkumar, Bernstein, and Karczmarz (SODA 2025) gave the first randomized bicriteria $(1+\varepsilon,1+\varepsilon)$-approximate algorithm on directed graphs running in sub-$mn$ time, answering a problem posed by Bernstein (SODA 2012). We substantially improve this on two fronts, supplying a deterministic bicriteria $(1+\varepsilon,1+\varepsilon)$-approximate algorithm running in near-linear time. Our approach straightforwardly generalizes to more than two resources. For $k$ resources, a deterministic $(1+\varepsilon_1,\ldots,1+\varepsilon_k)$-approximate algorithm running in near-linear time is possible, with $\varepsilon_1=\ldots=\varepsilon_k=\varepsilon$.

Abstract: In neutral-atom quantum computers, atoms are moved to target positions along paths of empty positions, and a target position may be reserved for one species of atom. Motivated by this task, we introduce Single-Move Labeled Token Routing: every source and every target vertex of a graph is assigned a set of labels, and tokens occupy the sources. A solution consists of a matching that assigns each source to a compatible target (one whose label set intersects its own), a route for each matched pair, and a movement order in which, when a token is moved, its route contains no other token. The problem is known to be polynomial-time solvable when every source is compatible with every target, and $\mathsf{NP}$-complete on grid graphs when each source is compatible with exactly one target. We prove that the latter case remains $\mathsf{NP}$-complete on grids and on planar graphs of maximum degree four even when some solution has pairwise edge-disjoint routes. On trees, the problem is known to be $\mathsf{NP}$-complete even for maximum degree three. We study trees through the solution edge multiplicity, the largest number of routes of a solution sharing an edge, and the candidate edge multiplicity, the largest number of compatible pairs whose paths share an edge. We prove that on trees of maximum degree three, the problem is $\mathsf{W}[1]$-hard parameterized by a bound on the solution edge multiplicity, even when a movement order is given, and that on trees of unbounded degree, it is $\mathsf{NP}$-complete even when the candidate edge multiplicity is at most eight. We show that on trees the problem is fixed-parameter tractable parameterized by the maximum degree together with the candidate edge multiplicity, and also by the candidate vertex multiplicity, the same count at vertices. Unless $\mathsf{P}=\mathsf{NP}$, neither the maximum degree nor the candidate edge multiplicity can be omitted.

Abstract: Planar graphs are central to applications across science and engineering, yet existing generators provide limited support for goal-directed generation under hard structural and geometric feasibility constraints. We propose a dataset-free method for generating planar graph embeddings by combining parametric graph grammars with safe reinforcement learning to optimize generic task-specific objectives while satisfying constraints during construction. We formulate the generation process as a constrained Markov decision process, where the graph grammar defines the state and action spaces. We further introduce an action projection that maps sampled actions toward state-dependent safe sets, improving constraint satisfaction during training. In contrast to classical graph generators and deep generative models, which typically offer limited goal-directed control or rely on weak constraint satisfaction, our method constructs feasible planar graph embeddings directly during generation. We also introduce a benchmark suite for constrained and goal-directed planar graph generation, together with classical and deep generative baselines. Across all benchmark tasks, our method consistently outperforms baselines while satisfying the formulated constraints.

Abstract: We study the \emph{bichromatic line-center problem} for $n$ pairs of points in the plane. A feasible solution assigns one point from each pair to the red set $R$ and the other to the blue set $B$. The goal is to minimize $\max\{w^\circ(R),\,w^\circ(B)\}$, where $w^\circ(X)$ denotes the minimum width of a strip enclosing $X$; the midlines of the corresponding optimal strips define the line-centers of $R$ and $B$. We consider several variants induced by orientational constraints on line-centers and provide efficient algorithms for each. For one line-center, which consists of computing a minimum-width strip that contains at least one point from each pair, we give an $O(n^2)$-time algorithm. For two line-centers, we obtain an $O(n)$-time algorithm when both are horizontal, and $Θ(n\log n)$-time algorithms when the two centers are parallel or when both orientations are prescribed. When exactly one orientation is prescribed, we give an $O(n^2)$-time algorithm. Finally, for the unrestricted case, we present an $O(n^3\log n)$-time algorithm.