We introduce the aggregated clustering problem, where one is given T instances of a center-based clustering task over the same n points, but under different metrics. The goal is to open k centers to minimize an aggregate of the clustering costs - e.g., the average or maximum - where the cost is measured via k-center/median/means objectives. More generally, we minimize a norm Ψ over the T cost values. We show that for T ≥ 3, the problem is inapproximable to any finite factor in polynomial time. For T = 2, we give constant-factor approximations. We also show W[2]-hardness when parameterized by k, but obtain f(k,T)poly(n)-time 3-approximations when parameterized by both k and T. When the metrics have structure, we obtain efficient parameterized approximation schemes (EPAS). If all T metrics have bounded ε-scatter dimension, we achieve a (1+ε)-approximation in f(k,T,ε)poly(n) time. If the metrics are induced by edge weights on a common graph G of bounded treewidth tw, and Ψ is the sum function, we get an EPAS in f(T,ε,tw)poly(n,k) time. Conversely, unless (randomized) ETH is false, any finite factor approximation is impossible if parametrized by only T, even when the treewidth is tw = Ω(polylog n).

We present a scalable combined localization infrastructure deployment and task planning algorithm for underwater assembly. Infrastructure is autonomously modified to suit the needs of manipulation tasks based on an uncertainty model on the infrastructure’s positional accuracy. Our uncertainty model can be combined with the noise characteristics from multiple sensors. For the task planning problem, we propose a layer-based clustering approach that completes the manipulation tasks one cluster at a time. We employ movable visual fiducial markers as infrastructure and an autonomous underwater vehicle (AUV) for manipulation tasks. The proposed task planning algorithm is computationally simple, and we implement it on AUV without any offline computation requirements. Combined hardware experiments and simulations over large datasets show that the proposed technique is scalable to large areas.

In this paper, we consider center-based clustering problems where C, the set of points to be clustered, lies in a metric space (X,d), and the set X of candidate centers is potentially infinite-sized. We call such problems continuous clustering problems to differentiate them from the discrete clustering problems where the set of candidate centers is explicitly given. It is known that for many objectives, when one restricts the set of centers to C itself and applies an α_dis-approximation algorithm for the discrete version, one obtains a β ⋅ α_{dis}-approximation algorithm for the continuous version via the triangle inequality property of the distance function. Here β depends on the objective, and for many objectives such as k-median, β = 2, while for some others such as k-means, β = 4. The motivating question in this paper is whether this gap of factor β between continuous and discrete problems is inherent, or can one design better algorithms for continuous clustering than simply reducing to the discrete case as mentioned above? In a recent SODA 2021 paper, Cohen-Addad, Karthik, and Lee prove a factor-2 and a factor-4 hardness, respectively, for the continuous versions of the k-median and k-means problems, even when the number of cluster centers is a constant. The discrete problem for a constant number of centers is easily solvable exactly using enumeration, and therefore, in certain regimes, the "β-factor loss" seems unavoidable. In this paper, we describe a technique based on the round-or-cut framework to approach continuous clustering problems. We show that, for the continuous versions of some clustering problems, we can design approximation algorithms attaining a better factor than the β-factor blow-up mentioned above. In particular, we do so for: the uncapacitated facility location problem with uniform facility opening costs (λ-UFL); the k-means problem; the individually fair k-median problem; and the k-center with outliers problem. Notably, for λ-UFL, where β = 2 and the discrete version is NP-hard to approximate within a factor of 1.27, we describe a 2.32-approximation for the continuous version, and indeed 2.32 < 2 × 1.27. Also, for k-means, where β = 4 and the best known approximation factor for the discrete version is 9, we obtain a 32-approximation for the continuous version, which is better than 4 × 9 = 36. The main challenge one faces is that most algorithms for the discrete clustering problems, including the state of the art solutions, depend on Linear Program (LP) relaxations that become infinite-sized in the continuous version. To overcome this, we design new linear program relaxations for the continuous clustering problems which, although having exponentially many constraints, are amenable to the round-or-cut framework.

We consider the hospital-residents problem where both hospitals and residents can have lower quotas. The input is a bipartite graph G = (ℛ∪ℋ,E), each vertex in ℛ∪ℋ has a strict preference ordering over its neighbors. The sets ℛ and ℋ denote the sets of residents and hospitals respectively. Each hospital has an upper and a lower quota denoting the maximum and minimum number of residents that can be assigned to it. Residents have upper quota equal to one, however, there may be a requirement that some residents must not be left unassigned in the output matching. We call this as the residents' lower quota. We show that whenever the set of matchings satisfying all the lower and upper quotas is non-empty, there always exists a matching that is popular among the matchings in this set. We give a polynomial-time algorithm to compute such a matching.