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Submodularity is one of the most important properties in combinatorial optimization, and k-submodularity is a generalization of submodularity. Maximization of a k-submodular function requires an exponential number of value oracle queries, and approximation algorithms have been studied. For unconstrained k-submodular maximization, Iwata, Tanigawa, and Yoshida, [Improved approximation algorithms for k-submodular function maximization, in Proceedings of the Twenty-Seventh Annual ACM-SIAM Symposium on Discrete Algorithms, SIAM, Philadelphia, 2016, pp. 404-413] gave a randomized k/(2k 1)-approximation algorithm for monotone functions and a randomized 1/2-approximation algorithm for nonmonotone functions. In this paper, we present improved randomized algorithms for nonmonotone functions. Our algorithm gives a k2+1 2k2+1 -approximation for k geq 3. We also give a randomized surd 17 3 2 -approximation algorithm for k = 3. We use the same framework used in Iwata, Tanigawa, and Yoshida, [Improved approximation algorithms for k-submodular function maximization, in Proceedings of the Twenty-Seventh Annual ACM-SIAM Symposium on Discrete Algorithms, SIAM, Philadelphia, 2016, pp. 404--413] and Ward and v Zivn'y [ACM Trans. Algorithms, 12 (2016), pp. 46:1--47:26] with different probabilities. [ABSTRACT FROM AUTHOR]

The minimum cost subset k-connected subgraph problem is a cornerstone problem in the area of network design with vertex connectivity requirements. In this problem, we are given a graph G=( V, E) with costs on edges and a set of terminals T⊆ V. The goal is to find a minimum cost subgraph such that every pair of terminals are connected by k openly (vertex) disjoint paths. In this paper, we present an approximation algorithm for the subset k-connected subgraph problem which improves on the previous best approximation guarantee of O( klog k) by Nutov (ACM Trans. Algorithms 9(1):1, ). Our approximation guarantee, α(| T|), depends upon the number of terminals: So, when the number of terminals is large enough, the approximation guarantee improves significantly. Moreover, we show that, given an approximation algorithm for | T|= k, we can obtain almost the same approximation guarantee for any instances with | T|> k. This suggests that the hardest instances of the problem are when | T|≈ k. [ABSTRACT FROM AUTHOR]

This paper examines the problem of locating a mobile, nonadversarial target in an indoor environment using multiple robotic searchers. One way to formulate this problem is to assume a known environment and choose searcher paths most likely to intersect with the path taken by the target. We refer to this as the multi-robot efficient search path planning (MESPP) problem. Such path planning problems are NP-hard, and optimal solutions typically scale exponentially in the number of searchers. We present an approximation algorithm that utilizes finite-horizon planning and implicit coordination to achieve linear scalability in the number of searchers. We prove that solving the MESPP problem requires maximizing a nondecreasing, submodular objective function, which leads to theoretical bounds on the performance of our approximation algorithm. We extend our analysis by considering the scenario where searchers are given noisy non-line-of-sight ranging measurements to the target. For this scenario, we derive and integrate online Bayesian measurement updating into our framework. We demonstrate the performance of our framework in two large-scale simulated environments, and we further validate our results using data from a novel ultra-wideband ranging sensor. Finally, we provide an analysis that demonstrates the relationship between MESPP and the intuitive average capture time metric. Results show that our proposed linearly scalable approximation algorithm generates searcher paths that are competitive with those generated by exponential algorithms. [ABSTRACT FROM AUTHOR]