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Trajectory generation in confined environment is crucial for wide adoption of intelligent robot manipulators. In this paper, we propose a novel motion planning approach for redundant robot arms that uses a hybrid optimization framework to…
This paper presents a quadratic approximation for the optimal power flow in power distributions systems. The proposed approach is based on a linearized load flow which is valid for power distribution systems including three-phase unbalanced…
Efficient path planning for autonomous mobile robots is a critical problem across numerous domains, where optimizing both time and energy consumption is paramount. This paper introduces a novel methodology that considers the dynamic…
Existing motion planning methods often have two drawbacks: 1) goal configurations need to be specified by a user, and 2) only a single solution is generated under a given condition. In practice, multiple possible goal configurations exist…
An optimization-based method for improving the productivity of precision machine tools is proposed, where the reference path is computed in local coordinates, and information about the machine tool performance is learned from experimental…
Correctly setting the parameters of a production machine is essential to improve product quality, increase efficiency, and reduce production costs while also supporting sustainability goals. Identifying optimal parameters involves an…
We present a fundamentally different approach to orthogonal layout of data flow diagrams with ports. This is based on extending constrained stress majorization to cater for ports and flow layout. Because we are minimizing stress we are able…
We consider the configuration formation problem in modular robotic systems where a set of singleton modules that are spatially distributed in an environment are required to assume appropriate positions so that they can configure into a new,…
This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…
The expansion of programmatically-accessible materials data has cultivated opportunities for data-driven approaches. Highly-automated frameworks like AFLOW not only manage the generation, storage, and dissemination of materials data, but…
Open-loop end-to-end neural motion planners have recently been proposed to improve motion planning for robotic manipulators. These methods enable planning directly from sensor observations without relying on a privileged collision checker…
Approximate computing is an emerging paradigm for developing highly energy-efficient computing systems such as various accelerators. In the literature, many libraries of elementary approximate circuits have already been proposed to simplify…
We developed a minimum-cost circulation framework for solving the global data association problem, which plays a key role in the tracking-by-detection paradigm of multi-object tracking. The global data association problem was extensively…
Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity,…
Truck platooning is a promising transportation mode in which several trucks drive together and thus save fuel consumption by suffering less air resistance. In this paper, we consider a truck platooning system for which we jointly optimize…
Many modern datacenter applications involve large-scale computations composed of multiple data flows that need to be completed over a shared set of distributed resources. Such a computation completes when all of its flows complete. A useful…
We study a variation of facility location problems (FLPs) that aims to improve the accessibility of agents to the facility within the context of mechanism design without money. In such a variation, agents have preferences on the ideal…
This paper presents the design concept, modeling and motion planning solution for the aerial robotic chain. This design represents a configurable robotic system of systems, consisting of multi-linked micro aerial vehicles that…
In drone racing, the time-minimum trajectory is affected by the drone's capabilities, the layout of the race track, and the configurations of the gates (e.g., their shapes and sizes). However, previous studies neglect the configuration of…
Large-scale controlled evacuations require emergency services to select evacuation routes, decide departure times, and mobilize resources to issue orders, all under strict time constraints. Existing algorithms almost always allow for…