Related papers: Sample-Based Planning with Volumes in Configuratio…
We study randomized algorithms for constrained optimization, in abstract frameworks that include, in strictly increasing generality: convex programming; LP-type problems; violator spaces; and a setting we introduce, consistent spaces. Such…
We propose an efficient probabilistic method to solve a deterministic problem -- we present a randomized optimization approach that drastically reduces the enormous computational cost of optimizing designs under many load cases for both…
Sampling-based methods for motion planning, which capture the structure of the robot's free space via (typically random) sampling, have gained popularity due to their scalability, simplicity, and for offering global guarantees, such as…
Constrained robot motion planning is a ubiquitous need for robots interacting with everyday environments, but it is a notoriously difficult problem to solve. Many sampled points in a sample-based planner need to be rejected as they fall…
Robots can be used to collect environmental data in regions that are difficult for humans to traverse. However, limitations remain in the size of region that a robot can directly observe per unit time. We introduce a method for selecting a…
In this paper, we develop a non-uniform sampling approach for fast and efficient path planning of autonomous vehicles. The approach uses a novel non-uniform partitioning scheme that divides the area into obstacle-free convex cells. The…
We initiate a study of a query-driven approach to designing partition trees for range-searching problems. Our model assumes that a data structure is to be built for an unknown query distribution that we can access through a sampling oracle,…
The problem of dimension reduction is of increasing importance in modern data analysis. In this paper, we consider modeling the collection of points in a high dimensional space as a union of low dimensional subspaces. In particular we…
We propose and analyze a constrained level-set method for semi-automatic image segmentation. Our level-set model with constraints on the level-set function enables us to specify which parts of the image lie inside respectively outside the…
We propose and analyze a constrained level-set method for semi-automatic image segmentation. Our level-set model with constraints on the level-set function enables us to specify which parts of the image lie inside respectively outside the…
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…
We propose the Hit-and-Run algorithm for planning and sampling problems in non-convex spaces. For sampling, we show the first analysis of the Hit-and-Run algorithm in non-convex spaces and show that it mixes fast as long as certain…
Combinatorial samplers are algorithmic schemes devised for the approximate- and exact-size generation of large random combinatorial structures, such as context-free words, various tree-like data structures, maps, tilings, RNA molecules.…
We consider stochastic model predictive control of a multi-agent systems with constraints on the probabilities of inter-agent collisions. We first study a sample-based approximation of the collision probabilities and use this approximation…
Online, sample-based planning algorithms for POMDPs have shown great promise in scaling to problems with large state spaces, but they become intractable for large action and observation spaces. This is particularly problematic in multiagent…
Volume calculation of configurational spaces acts as a vital part in configurational entropy calculation, which contributes towards calculating free energy landscape for molecular systems. In this article, we present our sampling-based…
In recent years, learning-based approaches have revolutionized motion planning. The data generation process for these methods involves caching a large number of high quality paths for different queries (start, goal pairs) in various…
Sampling-based planning algorithm is a powerful tool for solving planning problems in high-dimensional state spaces. In this article, we present a novel approach to sampling in the most promising regions, which significantly reduces…
Statistical models with constrained probability distributions are abundant in machine learning. Some examples include regression models with norm constraints (e.g., Lasso), probit, many copula models, and latent Dirichlet allocation (LDA).…
Deciding what to sense is a crucial task, made harder by dependencies and by a nonadditive utility function. We develop approximation algorithms for selecting an optimal set of measurements, under a dependency structure modeled by a…