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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…
Automation of excavation tasks requires real-time trajectory planning satisfying various constraints. To guarantee both constraint feasibility and real-time trajectory re-plannability, we present an integrated framework for real-time…
Velocity Planning for self-driving vehicles in a complex environment is one of the most challenging tasks. It must satisfy the following three requirements: safety with regards to collisions; respect of the maximum velocity limits defined…
This paper presents a modeling and optimization framework to compute the minimum-lap-time spatial trajectory and powertrain operation of racing cars in a computationally efficient fashion. Specifically, we first derive a quasi-steady-state…
The Automatic-Flow ( AFLOW ) standard for the high-throughput construction of materials science electronic structure databases is described. Electronic structure calculations of solid state materials depend on a large number of parameters…
We propose the Parity Flow formalism, a method for tracking the information flow in quantum circuits. This method adds labels to quantum circuit diagrams such that the action of Clifford gates can be understood as a recoding of quantum…
This document presents an Integer Linear Programming (ILP) approach to optimize pedestrian evacuation in flood-prone historic urban areas. The model aims to minimize total evacuation cost by integrating pedestrian speed, route length, and…
A major goal of materials design is to find material structures with desired properties and in a second step to find a processing path to reach one of these structures. In this paper, we propose and investigate a deep reinforcement learning…
Aiming at solving the problem that the moving route is complicated and the scheduling is difficult in the routing buffer of the bus in the manufacturing workshop, a routing buffer mathematical programming model for bus manufacturing…
This work provides linear control-oriented state space models of gas flow through standard equipment, such as valves, compressors, manifolds and non-trivial pipe geometries. After presenting the catalog of components, we show how to…
We present an algorithm that, given a representation of a road network in lane-level detail, computes a route that minimizes the expected cost to reach a given destination. In doing so, our algorithm allows us to solve for the complex…
Modeling flow in geosystems with natural fault is a challenging problem due to low permeability of fault compared to its surrounding porous media. One way to predict the behavior of the flow while taking the effects of fault into account is…
We consider the problem of scheduling multiprocessor jobs to minimize the total completion time under the given energy budget. Each multiprocessor job requires more than one processor at the same moment of time. Processors may operate at…
This paper studies a combinatorial optimization problem which is obtained by combining the flow shop scheduling problem and the shortest path problem. The objective of the obtained problem is to select a subset of jobs that constitutes a…
Robotic instruction following tasks require seamless integration of visual perception, task planning, target localization, and motion execution. However, existing task planning methods for instruction following are either data-driven or…
This study presents a new system performance function for process plant reliability analysis, formulated to capture both structural topology and process sequencing constraints. Built on a modified maximum-flow framework and solved via…
Recent advances in computational materials science present novel opportunities for structure discovery and optimization, including uncovering of unsuspected compounds and metastable structures, electronic structure, surface, and…
We present a machine-learning based Volume Of Fluid method to simulate multi-material flows on three-dimensional domains. One of the novelties of the method is that the flux fraction is computed by evaluating a previously trained neural…
Data pipeline frameworks provide abstractions for implementing sequences of data-intensive transformation operators, automating the deployment and execution of such transformations in a cluster. Deploying a data pipeline, however, requires…
This paper reports investigations on the computation of material fronts in multi-fluid models using a Lagrange-Projection approach. Various forms of the Projection step are considered. Particular attention is paid to minimization of…