Apurva Mudgal

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We consider a generalization of the capacitated vehicle routing problem known as the cumulative vehicle routing problem in the literature. Cumulative VRPs are known be a simple model for fuel consumption in VRPs. We examine four variants of the problem, and give constant factor approximation algorithms. Our results are based on a well-known heuristic of(More)
D * is a greedy heuristic planning method that is widely used in robotics, including several Nomad class robots and the Mars rover prototype, to reach a destination in unknown terrain. We obtain nearly sharp lower and upper bounds of Ω(n log n/ log log n) and O(n log n), respectively, on the worst-case total distance traveled by the robot, for the grid(More)
Localization is a fundamental problem in robotics. The " kidnapped robot " possesses a compass and map of its environment; it must determine its location at a minimum cost of travel distance. The problem is NP-hard [G. where n is the map size. No approximation algorithm has been known. We give an O(log 3 n)-factor algorithm. The key idea is to plan travel(More)
Localization is a fundamental problem in robotics. The 'kidnapped robot' possesses a compass and map of its environment; it must determine its location at a minimum cost of travel distance. The problem is NP-hard [6] even to minimize within factor <i>c</i> log <i>n</i>[21], where <i>n</i> is the number of vertices. No approximation algorithm has been known.(More)
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