Related papers: Optimal obstacle placement with disambiguations
We prove the existence of an oblivious routing scheme that is $\mathrm{poly}(\log n)$-competitive in terms of $(congestion + dilation)$, thus resolving a well-known question in oblivious routing. Concretely, consider an undirected network…
In this work we consider the multi-agent motion planning (MAMP) problem with the constraint that agents arrive at their respective goals at the same time. For the special case where all agents are initially at rest we propose a two-step…
Detecting anomalies in datasets is a longstanding problem in machine learning. In this context, anomalies are defined as a sample that significantly deviates from the remaining data. Meanwhile, optimal transport (OT) is a field of…
The position and the orientation of a rigid body object pushed by a robot on a planar surface are extremely difficult to predict. In this paper, the prediction problem is formulated as a disturbance observer design problem. The disturbance…
Multi-objective optimization problems (MOPs) often require a trade-off between conflicting objectives, maximizing diversity and convergence in the objective space. This study presents an approach to improve the quality of MOP solutions by…
We tackle the downgrading maximal covering location problem within a network. In this problem, two actors with conflicting objectives are involved: (a) The location planner aims to determine the location of facilities to maximize the…
Optimization has been widely used to generate smooth trajectories for motion planning. However, existing trajectory optimization methods show weakness when dealing with large-scale long trajectories. Recent advances in parallel computing…
We present filling as a new type of spatial subdivision problem that is related to covering and packing. Filling addresses the optimal placement of overlapping objects lying entirely inside an arbitrary shape so as to cover the most…
We study a resource-constrained variant of the Random Disambiguation Path (RDP) problem, a generalization of the Stochastic Obstacle Scene (SOS) problem, in which a navigating agent must reach a target in a spatial environment populated…
Image composition aims to generate realistic composite image by inserting an object from one image into another background image, where the placement (e.g., location, size, occlusion) of inserted object may be unreasonable, which would…
This paper deals with the problem of detecting maritime targets embedded in nonhomogeneous sea clutter, where limited number of secondary data is available due to the heterogeneity of sea clutter. A class of linear discriminant analysis…
Strategic product placement can have a strong influence on customer purchase behavior in physical stores as well as online platforms. Motivated by this, we consider the problem of optimizing the placement of substitutable products in…
In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…
In autonomous mobility-on-demand systems, effectively managing vehicle flows to mitigate induced congestion and ensure efficient operations is imperative for system performance and positive customer experience. Against this background, we…
This paper investigates Multi-Agent Path Finding Among Movable Obstacles (M-PAMO), which seeks collision-free paths for multiple agents from their start to goal locations among static and movable obstacles. M-PAMO arises in logistics and…
This paper addresses the challenges of decision-making for autonomous vehicles under faults during a transport mission. A real-time decision-making problem of vehicle routing planning considering maintenance management is formulated as an…
Obstacle detection is a safety-critical problem in robot navigation, where stereo matching is a popular vision-based approach. While deep neural networks have shown impressive results in computer vision, most of the previous obstacle…
We develop an approach for solving rooted orienteering problems with category constraints as found in tourist trip planning and logistics. It is based on expanding partial solutions in a systematic way, prioritizing promising ones, which…
Imagine an island modeled as a simple polygon $\P$ with $n$ vertices whose coastline we wish to monitor. We consider the problem of building the minimum number of refueling stations along the boundary of $\P$ in such a way that a drone can…
The constrained path optimization (CPO) problem takes the following input: (a) a road network represented as a directed graph, where each edge is associated with a "cost" and a "score" value; (b) a source-destination pair and; (c) a budget…