Related papers: Optimal obstacle placement with disambiguations
In this paper, a real-time quasi-optimal trajectory planning scheme is employed to guide an autonomous underwater vehicle (AUV) safely into a funnel-shape stationary docking station. By taking advantage of the direct method of calculus of…
This paper is concerned with the container pre-marshalling problem, which involves relocating containers in the storage area so that they can be efficiently loaded onto ships without reshuffles. In reality, however, ship arrival times are…
We consider dynamic loading and unloading problems for heavy geometric objects. The challenge is to maintain balanced configurations at all times: minimize the maximal motion of the overall center of gravity. While this problem has been…
In the elevator industry, reducing passenger journey time in an elevator system is a major aim. The key obstacle to optimising elevator dispatching is the unpredictable traffic flow of passengers. To address this difficulty, two main…
We consider $n$ unit-speed mobile agents initially positioned at the center of a unit disk, tasked with inspecting all points on the disk's perimeter. A perimeter point is considered covered if an agent located outside the disk's interior…
The problem considered in this paper is the weighted obnoxious facility location in the convex hull of demand points. The objective function is to maximize the smallest weighted distance between a facility and a set of demand points. Three…
$\delta$-Covering, for some covering range $\delta>0$, is a continuous facility location problem on undirected graphs where all edges have unit length. The facilities may be positioned on the vertices as well as on the interior of the…
We consider the online carpooling problem: given $n$ vertices, a sequence of edges arrive over time. When an edge $e_t = (u_t, v_t)$ arrives at time step $t$, the algorithm must orient the edge either as $v_t \rightarrow u_t$ or $u_t…
This paper introduces the correlated arc orienteering problem (CAOP), where the task is to find routes for a team of robots to maximize the collection of rewards associated with features in the environment. These features can be…
We propose faster algorithms for the following three optimization problems on $n$ collinear points, i.e., points in dimension one. The first two problems are known to be NP-hard in higher dimensions. 1- Maximizing total area of disjoint…
In this paper, given a linear system of equations A x = b, we are finding locations in the plane to place objects such that sending waves from the source points and gathering them at the receiving points solves that linear system of…
This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…
The study addressed the problem of Anonymous Multi-Agent Path-finding (AMAPF). Unlike the classical formulation, where the assignment of agents to goals is fixed, in the anonymous MAPF setting it is irrelevant which agent reaches specific…
In this work, we consider a method of searching of the direction of a wireless network development (the places of new access points or base stations etc.) optimized with criteria of coverage of important territories and minimum cost of…
This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…
Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems to navigate safely through complex and unfamiliar…
We study the problem of multi-agent navigation in static environments when no centralized controller is present. Each agent is controlled individually and relies on three algorithmic components to achieve its goal while avoiding collisions…
This paper addresses the challenges of optimally placing a finite number of sensors to detect Poisson-distributed targets in a bounded domain. We seek to rigorously account for uncertainty in the target arrival model throughout the problem.…
The collision avoidance constraints are prominent as non-convex, non-differentiable, and challenging when defined in optimization-based motion planning problems. To overcome these issues, this paper presents a novel non-conservative…
Optimal Transport is a popular distance metric for measuring similarity between distributions. Exact algorithms for computing Optimal Transport can be slow, which has motivated the development of approximate numerical solvers (e.g. Sinkhorn…