Related papers: Set intersection problems: Integrating projection …
We present a real-time algorithm that finds the Penetration Depth (PD) between general polygonal models based on iterative and local optimization techniques. Given an in-collision configuration of an object in configuration space, we find…
Mixed-integer convex programming (MICP) has seen significant algorithmic and hardware improvements with several orders of magnitude solve time speedups compared to 25 years ago. Despite these advances, MICP has been rarely applied to…
In this workshop, we discuss several algorithms for mathematical programs with equilibrium constraints (MPECs). The unifying theme is that MPECs are optimization problems whose feasible set contains a lower-level equilibrium system, often…
Integer programming (IP), as the name suggests is an integer-variable-based approach commonly used to formulate real-world optimization problems with constraints. Currently, quantum algorithms reformulate the IP into an unconstrained form…
We explore the dual problem of the convex roof construction by identifying it as a linear semi-infinite programming (LSIP) problem. Using the LSIP theory, we show the absence of a duality gap between primal and dual problems, even if the…
Recent increase in the availability of warped images projected onto a manifold (e.g., omnidirectional spherical images), coupled with the success of higher-order assignment methods, has sparked an interest in the search for improved…
We propose the algorithm that solves the symmetric cone programs (SCPs) by iteratively calling the projection and rescaling methods the algorithms for solving exceptional cases of SCP. Although our algorithm can solve SCPs by itself, we…
Most quantum circuits require SWAP gate insertion to run on quantum hardware with limited qubit connectivity. A promising SWAP gate insertion method for blocks of commuting two-qubit gates is a predetermined swap strategy which applies…
Inspection planning is concerned with computing the shortest robot path to inspect a given set of points of interest (POIs) using the robot's sensors. This problem arises in a wide range of applications from manufacturing to medical…
In this paper, we analyze the convergence as well as the rate of convergence of asynchronous distributed quadratic programming (QP) with dual decomposition technique. In general, distributed optimization requires synchronization of data at…
We propose Newton-PIPG, an efficient method for solving quadratic programming (QP) problems arising in optimal control, subject to additional set constraints. Newton-PIPG integrates the Proportional-Integral Projected Gradient (PIPG) method…
This paper studies how to solve semi-infinite polynomial programming (SIPP) problems by semidefinite relaxation method. We first introduce two SDP relaxation methods for solving polynomial optimization problems with finitely many…
The optimal design of multi-target rendezvous and flyby missions is challenging due to the combination of traditional spacecraft trajectory optimization and high-dimensional combinatorial problems. This often requires large-scale global…
This paper deals with the maximum independent set (M.I.S.) problem, also known as the stable set problem. The basic mathematical programming model that captures this problem is an Integer Program (I.P.) with zero-one variables $x_j$ and…
Answer Set Programming (ASP) is a powerful modeling formalism for combinatorial problems. However, writing ASP models is not trivial. We propose a novel method, called Sketched Answer Set Programming (SkASP), aiming at supporting the user…
The iterative scaling procedure (ISP) is an algorithm which computes a sequence of matrices, starting from some given matrix. The objective is to find a matrix 'proportional' to the given matrix, having given row and column sums. In many…
Packing and vehicle routing problems play an important role in the area of supply chain management. In this paper, we introduce a non-linear knapsack problem that occurs when packing items along a fixed route and taking into account travel…
In this paper we consider the problem of coordinating autonomous vehicles approaching an intersection. We cast the problem in the distributed optimisation framework and propose an algorithm to solve it in real time. We extend previous work…
We consider the problem of inverse kinematics (IK), where one wants to find the parameters of a given kinematic skeleton that best explain a set of observed 3D joint locations. The kinematic skeleton has a tree structure, where each node is…
Let $P$ be a polygonal curve in $\mathbb{R}^D$ of length $n$, and $S$ be a point set of size $k$. The Curve/Point Set Matching problem consists of finding a polygonal curve $Q$ on $S$ such that its Fr\'echet distance from $P$ is less than a…