Related papers: Optimal obstacle placement with disambiguations
The Team Orienteering Problem with Service Times and Mandatory & Incompatible Nodes (TOP-ST-MIN) is a variant of the classic Team Orienteering Problem (TOP), which includes three novel features that stem from two real-world problems…
This paper presents a minimum displacement motion planning problem wherein obstacles are displaced by a minimum amount to find a feasible path. We define a metric for robot-obstacle intersection that measures the extent of the intersection…
Uncertainties arising from localization error, trajectory prediction errors of the moving obstacles and environmental disturbances pose significant challenges to robot's safe navigation. Existing uncertainty-aware planners often approximate…
Given a set of pairwise disjoint polygonal obstacles in the plane, finding an obstacle-avoiding Euclidean shortest path between two points is a classical problem in computational geometry and has been studied extensively. The previous best…
In the paper a model problem for the location of a given number $N$ of points in a given region $\Omega$ and with a given resources density $\rho(x)$ is considered. The main difference between the usual location problems and the present one…
Many methods have been developed for planning the motion of robotic arms for picking and placing, ranging from local optimization to global search techniques, which are effective for sparsely placed objects. Dense clutter, however, still…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
In many data classification problems, there is no linear relationship between an explanatory and the dependent variables. Instead, there may be ranges of the input variable for which the observed outcome is signficantly more or less likely.…
Different applications, such as environmental monitoring and military operations, demand the observation of predefined target locations, and an autonomous mobile robot can assist in these tasks. In this context, the Orienteering Problem…
This paper addresses the problem of guiding a quadrotor through a predefined sequence of waypoints in cluttered environments, aiming to minimize the flight time while avoiding collisions. Previous approaches either suffer from prolonged…
Localizing targets outside the anchors' convex hull is an understudied but prevalent scenario in vehicle-centric, UAV-based, and self-localization applications. Considering such scenarios, this paper studies the optimal anchor placement…
Given a separation oracle for a convex set $K \subset \mathbb{R}^n$ that is contained in a box of radius $R$, the goal is to either compute a point in $K$ or prove that $K$ does not contain a ball of radius $\epsilon$. We propose a new…
The multi-agent pathfinding (MAPF) problem seeks collision-free paths for a team of agents from their current positions to their pre-set goals in a known environment, and is an essential problem found at the core of many logistics,…
Autonomous driving requires reliable collision avoidance in dynamic environments. Nonlinear Model Predictive Controllers (NMPCs) are suitable for this task, but struggle in time-critical scenarios requiring high frequency. To meet this…
We consider constrained policy optimization in Reinforcement Learning, where the constraints are in form of marginals on state visitations and global action executions. Given these distributions, we formulate policy optimization as…
Motivated by recent work in computational social choice, we extend the metric distortion framework to clustering problems. Given a set of $n$ agents located in an underlying metric space, our goal is to partition them into $k$ clusters,…
In this paper, we investigate a special case of the static aircraft landing problem (ALP) with the objective to optimize landing sequences and landing times for a set of air planes. The problem is to land the planes on one or multiple…
Traditional approaches to the design of multi-agent navigation algorithms consider the environment as a fixed constraint, despite the influence of spatial constraints on agents' performance. Yet hand-designing conducive environment layouts…
Inspired by the recent 11th Global Trajectory Optimisation Competition, this paper presents the asteroid routing problem (ARP) as a realistic benchmark of algorithms for expensive bound-constrained black-box optimization in permutation…
Many discrete optimization problems amount to selecting a feasible set of edges of least weight. We consider in this paper the context of spatial graphs where the positions of the vertices are uncertain and belong to known uncertainty sets.…