Related papers: Toward a Dynamic Programming Solution for the 4-pe…
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…
Differential Dynamic Programming (DDP) is one of the indirect methods for solving an optimal control problem. Several extensions to DDP have been proposed to add stagewise state and control constraints, which can mainly be classified as…
We consider the problem of optimizing time averages in systems with independent and identically distributed behavior over renewal frames. This includes scheduling and task processing to maximize utility in stochastic networks with variable…
We introduce the idea that the P vs NP problem can have a finer structure. Given the NP complete problem of interest, the configurations space of the problem can be divided in (at least) two regions. In one region, polynomial algorithms to…
Many core problems in robotics can be framed as constrained optimization problems. Often on these problems, the robotic system has uncertainty, or it would be advantageous to identify multiple high quality feasible solutions. To enable…
The cross dock door design problem consists of deciding on the number and capacity of inbound and outbound doors for receiving product pallets from origin nodes and exiting them to destination nodes. The uncertainty, realized in scenarios,…
Recent demonstrations on specialized benchmarks have reignited excitement for quantum computers, yet whether they can deliver an advantage for practical real-world problems remains an open question. Here, we show that probabilistic…
We present how we formalize the waiting tables task in a restaurant as a robot planning problem. This formalization was used to test our recently developed algorithms that allow for optimal planning for achieving multiple independent tasks…
Recent research has shown that optimal picker tours in rectangular warehouses exhibit deterministic travel patterns within each aisle, and that certain previously considered traversals are unnecessary. Using these insights, this paper…
Partial Reconfiguration (PR) is a technique that allows reconfiguring the FPGA chip at runtime. However, current design support tools require manual floorplanning of the partial modules. Several approaches have been proposed in this field,…
In the Tower of Hanoi problem, there is six types of moves between the three pegs. The main purpose of the present paper is to find out the number of each of these six elementary moves in the optimal sequence of moves. We present a…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
The most commonly used method to tackle the graph partitioning problem in practice is the multilevel approach. During a coarsening phase, a multilevel graph partitioning algorithm reduces the graph size by iteratively contracting nodes and…
Safe and efficient path planning in parking scenarios presents a significant challenge due to the presence of cluttered environments filled with static and dynamic obstacles. To address this, we propose a novel and computationally efficient…
It is significant to apply load-balancing strategy to improve the performance and reliability of resource in data centers. One of the challenging scheduling problems in Cloud data centers is to take the allocation and migration of…
An algorithm for determining crystal structures from diffraction data is described which does not rely on the usual Fourier-space formulations of atomicity. The new algorithm implements atomicity constraints in real-space, as well as…
The practical deployment of high-capacity free-space optical communication is fundamentally limited by atmospheric turbulence, a challenge that conventional mode-sorting techniques have failed to overcome. While engineered optical computers…
In this work, we explore the use of operator splitting algorithms for solving regularized structural topology optimization problems. The context is the classical structural design problems (e.g., compliance minimization and compliant…
In this paper, we consider different constrained partition problems for weighted trees and cactus graphs. We focus on the (l,u)-partition problem, which is the problem of partitioning a weighted graph into connected clusters such that each…
We propose HAMSI (Hessian Approximated Multiple Subsets Iteration), which is a provably convergent, second order incremental algorithm for solving large-scale partially separable optimization problems. The algorithm is based on a local…