Related papers: A Dynamic Programming Solution to the Monotonic Pa…
We consider the motion-planning problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time…
We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…
In this paper, we look into the minimum obstacle displacement (MOD) planning problem from a mobile robot motion planning perspective. This problem finds an optimal path to goal by displacing movable obstacles when no path exists due to…
The control problem of the working tool movement along a predefined trajectory is considered. The integral of kinetic energy and weighted inertia forces for the whole period of motion is considered as a cost functional. The trajectory is…
We present a method of exploiting symmetries of discrete-time optimal control problems to reduce the dimensionality of dynamic programming iterations. The results are derived for systems with continuous state variables, and can be applied…
We present a first step towards a multigrid method for solving the min-cost flow problem. Specifically, we present a strategy that takes advantage of existing black-box fast iterative linear solvers, i.e. algebraic multigrid methods. We…
We consider the problem of searching for an object on a line at an unknown distance OPT from the original position of the searcher, in the presence of a cost of d for each time the searcher changes direction. This is a generalization of the…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
In this work, we study a single-machine scheduling problem that aims at minimizing the total cost of a schedule subject to start-time dependent costs. This framework naturally captures scenarios where costs fluctuate throughout the day,…
We study the problem of finding the cycle of minimum cost-to-time ratio in a directed graph with $ n $ nodes and $ m $ edges. This problem has a long history in combinatorial optimization and has recently seen interesting applications in…
We consider deterministic finite-horizon optimal control problems with a fixed initial state. We introduce an on-line policy iteration method, which, starting from a given policy, however obtained, generates a sequence of cost-improving…
The parametric shortest path problem is to find the shortest paths in graph where the edge costs are of the form w_ij+lambda where each w_ij is constant and lambda is a parameter that varies. The problem is to find shortest path trees for…
Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…
The optimal traverse of irregular terrains made by ground mobile robots heavily depends on the adequacy of the cost models used to plan the path they follow. The criteria to define optimality may be based on minimizing energy consumption…
We suggest a global perspective on dynamic network flow problems that takes advantage of the similarities to port-Hamiltonian dynamics. Dynamic minimum cost flow problems are formulated as open-loop optimal control problems for general…
In this paper we provide new randomized algorithms with improved runtimes for solving linear programs with two-sided constraints. In the special case of the minimum cost flow problem on $n$-vertex $m$-edge graphs with integer…
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…
Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms…
Forecasting project expenses is a crucial step for businesses to avoid budget overruns and project failures. Traditionally, this has been done by financial analysts or data science techniques such as time-series analysis. However, these…
This paper deals with the optimal path placement for a manipulator based on energy consumption. It proposes a methodology to determine the optimal location of a given test path within the workspace of a manipulator with minimal electric…