Related papers: Polynomial Path Orders: A Maximal Model
This paper presents OpTaS, a task specification Python library for Trajectory Optimization (TO) and Model Predictive Control (MPC) in robotics. Both TO and MPC are increasingly receiving interest in optimal control and in particular…
We consider the problem of tracking one solution path defined by a polynomial homotopy on a parallel shared memory computer. Our robust path tracker applies Newton's method on power series to locate the closest singular parameter value. On…
The main contribution of this paper resides in developing a new algorithmic approach for addressing the continuous-time joint replenishment problem, termed $\Psi$-pairwise alignment. The latter mechanism, through which we synchronize…
Machine learning and artificial intelligence algorithms typically require large amount of data for training. This means that for nonlinear aeroelastic applications, where small training budgets are driven by the high computational burden…
In this paper, we present an iterative Model Predictive Control (MPC) design for piecewise nonlinear systems. We consider finite time control tasks where the goal of the controller is to steer the system from a starting configuration to a…
We present iSAPP (Imperative Static Analyser for Probabilistic Polynomial Time), a complexity verifier tool that is sound and extensionally complete for the Probabilistic Polynomial Time (PP) complexity class. iSAPP works on an imperative…
Routing problems such as Hamiltonian Path Problem (HPP), seeks a path to visit all the vertices in a graph while minimizing the path cost. This paper studies a variant, HPP with Probabilistic Terminals (HPP-PT), where each vertex has a…
Recursive analysis was introduced by A. Turing [1936], A. Grzegorczyk [1955], and D. Lacombe [1955]. It is based on a discrete mechanical framework that can be used to model computation over the real numbers. In this context the…
The question of knowing whether the policy Iteration algorithm (PI) for solving Markov Decision Processes (MDPs) has exponential or (strongly) polynomial complexity has attracted much attention in the last 50 years. Recently, Fearnley…
A polynomial optimization problem (POP) asks for minimizing a polynomial function given a finite set of polynomial constraints (equations and inequalities). This problem is well-known to be hard in general, as it encodes many hard…
Closed-loop optimal control design for high-dimensional nonlinear systems has been a long-standing challenge. Traditional methods, such as solving the associated Hamilton-Jacobi-Bellman equation, suffer from the curse of dimensionality.…
We study the computational complexity of approximating general constrained Markov decision processes. Our primary contribution is the design of a polynomial time $(0,\epsilon)$-additive bicriteria approximation algorithm for finding optimal…
Multi-objective or multi-destination path planning is crucial for mobile robotics applications such as mobility as a service, robotics inspection, and electric vehicle charging for long trips. This work proposes an anytime iterative system…
We consider a ranking problem where we have noisy observations from a matrix with isotonic columns whose rows have been permuted by some permutation $\pi$ *. This encompasses many models, including crowd-labeling and ranking in tournaments…
The Priority Inheritance Protocol (PIP) is arguably the best-known protocol for resource sharing under real-time constraints. Its importance in modern applications is undisputed. Nevertheless, because jobs may be blocked under PIP for a…
We propose an extension of the framework for discussing the computational complexity of problems involving uncountably many objects, such as real numbers, sets and functions, that can be represented only through approximation. The key idea…
Accurate trajectory prediction is crucial for safe and efficient autonomous driving, but handling partial observations presents significant challenges. To address this, we propose a novel trajectory prediction framework called Partial…
In this paper, we define and study variants of several complexity classes of decision problems that are defined via some criteria on the number of accepting paths of an NPTM. In these variants, we modify the acceptance criteria so that they…
Given a graph $G$, and terminal vertices $s$ and $t$, the TRACKING PATHS problem asks to compute a minimum number of vertices to be marked as trackers, such that the sequence of trackers encountered in each s-t path is unique. TRACKING…
The classic algorithm [Papadimitriou, J.ACM '81] for IPs has a running time $n^{O(m)}(m\cdot\max\{\Delta,\|\textbf{b}\|_{\infty}\})^{O(m^2)}$, where $m$ is the number of constraints, $n$ is the number of variables, and $\Delta$ and…