Independence and matching numbers of some token graphs

Let $G$ be a graph of order $n$ and let $k\in\{1,\ldots,n-1\}$. The $k$-token graph $F_k(G)$ of $G$, is the graph whose vertices are the $k$-subsets of $V(G)$, where two vertices are adjacent in $F_k(G)$ whenever their symmetric difference is an edge of $G$. We study the independence and matching numbers of $F_k(G)$. We present a tight lower bound for the matching number of $F_k(G)$ for the case in which $G$ has either a perfect matching or an almost perfect matching. Also, we estimate the independence number for bipartite $k$-token graphs, and determine the exact value for some graphs.Comment: 16 pages, 4 figures. Third version is a major revision. Some proofs were corrected or simplified. New references adde

Finding a needle in an exponential haystack: Discrete RRT for exploration of implicit roadmaps in multi-robot motion planning

We present a sampling-based framework for multi-robot motion planning which combines an implicit representation of a roadmap with a novel approach for pathfinding in geometrically embedded graphs tailored for our setting. Our pathfinding algorithm, discrete-RRT (dRRT), is an adaptation of the celebrated RRT algorithm for the discrete case of a graph, and it enables a rapid exploration of the high-dimensional configuration space by carefully walking through an implicit representation of a tensor product of roadmaps for the individual robots. We demonstrate our approach experimentally on scenarios of up to 60 degrees of freedom where our algorithm is faster by a factor of at least ten when compared to existing algorithms that we are aware of.Comment: Kiril Solovey and Oren Salzman contributed equally to this pape

Motion Planning for Unlabeled Discs with Optimality Guarantees

We study the problem of path planning for unlabeled (indistinguishable) unit-disc robots in a planar environment cluttered with polygonal obstacles. We introduce an algorithm which minimizes the total path length, i.e., the sum of lengths of the individual paths. Our algorithm is guaranteed to find a solution if one exists, or report that none exists otherwise. It runs in time $\tilde{O}(m^4+m^2n^2)$, where $m$ is the number of robots and $n$ is the total complexity of the workspace. Moreover, the total length of the returned solution is at most $\text{OPT}+4m$, where OPT is the optimal solution cost. To the best of our knowledge this is the first algorithm for the problem that has such guarantees. The algorithm has been implemented in an exact manner and we present experimental results that attest to its efficiency

Independence and matching number for some token graphs

Let G be a graph of order n and let k ∈ {1, . . . , n−1}. The k-token graph Fk(G) of G is the graph whose vertices are the k-subsets of V (G), where two vertices are adjacent in Fk(G) whenever their symmetric difference is an edge of G. We study the independence and matching numbers of Fk(G). We present a tight lower bound for the matching number of Fk(G) for the case in which G has either a perfect matching or an almost perfect matching. Also, we estimate the independence number for bipartite ktoken graphs, and determine the exact value for some graphs