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We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…

This paper studies a variant of the minimum-cost flow problem in a graph with convex cost function where the demands at the vertices are functions depending on a one-dimensional parameter $\lambda$. We devise two algorithmic approaches for…

Metro or transit maps, are schematic representations of transit networks to facilitate effective route-finding. These maps are often advertised on a web page or pamphlet highlighting routes from source to destination stations. To visually…

This paper presents a modeling and design optimization framework for an Electric Autonomous Mobility-on-Demand system that allows for ride-pooling, i.e., multiple users can be transported at the same time towards a similar direction to…

This paper develops a planner to find an optimal assembly sequence to assemble several objects. The input to the planner is the mesh models of the objects, the relative poses between the objects in the assembly, and the final pose of the…

We introduce a problem that is a common generalization of the uncapacitated facility location and minimum latency (ML) problems, where facilities need to be opened to serve clients and also need to be sequentially activated before they can…

The automation of composite sheet layup is essential to meet the increasing demand for composite materials in various industries. However, draping plans for the robotic layup of composite sheets are not robust. A plan that works well under…

In this paper, we introduce a new probabilistically safe local steering primitive for sampling-based motion planning in complex high-dimensional configuration spaces. Our local steering procedure is based on a new notion of a convex…

With the rapid progress in Multi-Agent Path Finding (MAPF), researchers have studied how MAPF algorithms can be deployed to coordinate hundreds of robots in large automated warehouses. While most works try to improve the throughput of such…

Accurate object rearrangement from vision is a crucial problem for a wide variety of real-world robotics applications in unstructured environments. We propose IFOR, Iterative Flow Minimization for Robotic Object Rearrangement, an end-to-end…

This paper presents a trajectory generation method that optimizes a quadratic cost functional with respect to linear system dynamics and to linear input and state constraints. The method is based on continuous-time flatness-based trajectory…

We consider the coordinate assignment phase of the well known Sugiyama framework for drawing directed graphs in a hierarchical style. The extensive literature in this area has given comparatively little attention to a prescribed width of…

The construction of a cost minimal network for flows obeying physical laws is an important problem for the design of electricity, water, hydrogen, and natural gas infrastructures. We formulate this problem as a mixed-integer non-linear…

Symbolic execution is a successful and very popular technique used in software verification and testing. A key limitation of symbolic execution is in dealing with code containing loops. The problem is that even a single loop can generate a…

We present an economics-based method for deciding the optimal rates at which vehicles are allowed to enter a highway. The method exploits the naturally occuring fluctuations of traffic flow and is flexible enough to adapt in real time to…

The objective of this study is to enable fast and safe manipulation tasks in home environments. Specifically, we aim to develop a system that can recognize its surroundings and identify target objects while in motion, enabling it to plan…

In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking…

Large Language Model (LLM)-based systems, i.e. interconnected elements that include an LLM as a central component, such as conversational agents, are usually designed with monolithic, static architectures that rely on a single,…

This paper studies line planning for urban bus networks that face multiple resource limits such as budget, labor, and emission caps while using heterogeneous fleets. The objective is to maximize total reward from serving passengers by…

Planning safe motions for legged robots requires sophisticated safety verification tools. However, designing such tools for such complex systems is challenging due to the nonlinear and high-dimensional nature of these systems' dynamics. In…