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Although the classical LQR design method has been very successful in real world engineering designs, in some cases, the classical design method needs modifications because of the saturation in actuators. This modified problem is sometimes…
The Clustered Traveling Salesman Problem (CTSP) is a variant of the popular Traveling Salesman Problem (TSP) arising from a number of real-life applications. In this work, we explore a transformation approach that solves the CTSP by…
We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle…
The elliptic restricted three body problem has been well studied. However, the previous formulations of the problem have used a rotating coordinate system to keep the positions of the primary and secondary on the x-axis. This requires the…
Physically disentangling entangled objects from each other is a problem encountered in waste segregation or in any task that requires disassembly of structures. Often there are no object models, and, especially with cluttered irregularly…
Treewidth and hypertree width have proven to be highly successful structural parameters in the context of the Constraint Satisfaction Problem (CSP). When either of these parameters is bounded by a constant, then CSP becomes solvable in…
We develop a spatial branch-and-cut approach for nonconvex Quadratically Constrained Quadratic Programs with bounded complex variables (CQCQP). Linear valid inequalities are added at each node of the search tree to strengthen semidefinite…
We introduce an alternative approach for constrained mathematical programming problems. It rests on two main aspects: an efficient way to compute optimal solutions for unconstrained problems, and multipliers regarded as variables for a…
This paper investigates the reconfiguration variant of the Constraint Satisfaction Problem (CSP), referred to as the Reconfiguration CSP (RCSP). Given a CSP instance and two of its solutions, RCSP asks whether one solution can be…
In many industrial robotics applications, such as spot-welding, spray-painting or drilling, the robot is required to visit successively multiple targets. The robot travel time among the targets is a significant component of the overall…
A variant of the classical optimal transportation problem is: among all joint measures with fixed marginals and which are dominated by a given density, find the optimal one. Existence and uniqueness of solutions to this variant were…
Answering Conjunctive Queries (CQs) and solving Constraint Satisfaction Problems (CSPs) are arguably among the most fundamental tasks in Computer Science. They are classical NP-complete problems. Consequently, the search for tractable…
A discrete temporal constraint satisfaction problem is a constraint satisfaction problem (CSP) whose constraint language consists of relations that are first-order definable over $(\Bbb Z,<)$. Our main result says that every distance CSP is…
We consider the problem of packing congruent circles with the maximum radius in a unit square as a mathematical optimization problem. Due to the presence of non-overlapping constraints, this problem is a notoriously difficult nonconvex…
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…
Literature on Constraint Satisfaction exhibits the definition of several structural properties that can be possessed by CSPs, like (in)consistency, substitutability or interchangeability. Current tools for constraint solving typically…
Tensor train (TT) decomposition provides a space-efficient representation for higher-order tensors. Despite its advantage, we face two crucial limitations when we apply the TT decomposition to machine learning problems: the lack of…
The problem of ensuring constraints satisfaction on the output of machine learning models is critical for many applications, especially in safety-critical domains. Modern approaches rely on penalty-based methods at training time, which do…
Constraint problems can be trivially solved in parallel by exploring different branches of the search tree concurrently. Previous approaches have focused on implementing this functionality in the solver, more or less transparently to the…
The problem of deciding whether CSP instances admit solutions has been deeply studied in the literature, and several structural tractability results have been derived so far. However, constraint satisfaction comes in practice as a…