Related papers: Phase Transitions of Plan Modification in Conforma…
In this paper, we view a policy or plan as a transition system over a space of information states that reflect a robot's or other observer's perspective based on limited sensing, memory, computation, and actuation. Regardless of whether…
The influence of uncorrelated, quenched disorder on the phase transition of two dimensional Potts models will be reviewed. After an introduction where the conditions of relevance of quenched randomness on phase transitions are exemplified…
The problem of distributing the workload on a parallel computer to minimize the overall runtime is known as Multiprocessor Scheduling Problem. It is NP-hard, but like many other NP-hard problems, the average hardness of random instances…
Random constraint satisfaction problems can exhibit a phase where the number of constraints per variable $\alpha$ makes the system solvable in theory on the one hand, but also makes the search for a solution hard, meaning that common…
We introduce and study the random "locked" constraint satisfaction problems. When increasing the density of constraints, they display a broad "clustered" phase in which the space of solutions is divided into many isolated points. While the…
In planning problems, it is often challenging to fully model the desired specifications. In particular, in human-robot interaction, such difficulty may arise due to human's preferences that are either private or complex to model.…
Most current planners assume complete domain models and focus on generating correct plans. Unfortunately, domain modeling is a laborious and error-prone task. While domain experts cannot guarantee completeness, often they are able to…
Phase transitions in combinatorial problems have recently been shown to be useful in locating "hard" instances of combinatorial problems. The connection between computational complexity and the existence of phase transitions has been…
Compared with constraint satisfaction problems, counting problems have received less attention. In this paper, we survey research works on the problems of counting the number of solutions to constraints. The constraints may take various…
Temporal planning often involves numeric effects that are directly proportional to their action's duration. These include continuous effects, where a numeric variable is subjected to a rate of change while the action is being executed, and…
We consider the possibility of quantum phase transitions in the ground state of triplet superconductors where particle density is the tunning parameter. For definiteness, we focus on the case of one band quasi-one-dimensional triplet…
The property of linear discrete-time time-invariant system operators mapping inputs with at most $k-1$ sign changes to outputs with at most $k-1$ sign changes is investigated. We show that this property is tractable via the notion of…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
We discuss how phase-transitions may be detected in computationally hard problems in the context of Anytime Algorithms. Treating the computational time, value and utility functions involved in the search results in analogy with quantities…
The aim of this paper is to propose an alternative method to solve a Fault Tolerant Control problem. The model is a linear system affected by a disturbance term: this represents a large class of technological faulty processes. The goal is…
We present a simple and easy-to-implement algorithm to detect plan infeasibility in kinematic motion planning. Our method involves approximating the robot's configuration space to a discrete space, where each degree of freedom has a finite…
Solving integer optimization problems with large or widely ranged objective coefficients can lead to numerical instability and increased runtimes. When the problem also involves multiple objectives, the impact of the objective coefficients…
Computational constraints permeate the controller design process, and yet are rarely treated as explicit design constraints. Towards addressing this gap, we propose a quantitative framework that captures the effects of common design…
This work introduces the category of Power System Transition Planning optimization problem. It aims to shift power systems to emissions-free networks efficiently. Unlike comparable work, the framework presented here broadly applies to the…
This paper is concerned with the problem of recovering a structured signal from a relatively small number of corrupted random measurements. Sharp phase transitions have been numerically observed in practice when different convex programming…