Related papers: An iterative merging placement algorithm for the f…
The Generalized Finite Element Method (GFEM) is an effective unfitted numerical method for handling interface problems. By augmenting the standard FEM space with an appropriate enrichment space, GFEM can accurately capture C^0 solutions…
This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMUs), optimized and calibrated with ground truth data. The…
This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems involve multiple, similar-geometry objects placed on a flat, horizontal surface,…
We present a new distributed fuzzy partitioning method to reduce the complexity of multi-way fuzzy decision trees in Big Data classification problems. The proposed algorithm builds a fixed number of fuzzy sets for all variables and adjusts…
Fiber reinforced materials (FRMs) can be modeled as bi-phasic materials, where different constitutive behaviors are associated with different phases. The numerical study of FRMs through a full geometrical resolution of the two phases is…
In this paper we propose a novel algorithm to combine two or more cellular complexes, providing a minimal fragmentation of the cells of the resulting complex. We introduce here the idea of arrangement generated by a collection of cellular…
Meshless methods are often used in numerical simulations of systems of partial differential equations (PDEs), particularly those which involve complex geometries or free surfaces. Here we present a novel compact scheme based on the local…
Numerous applications require algorithms that can align partially overlapping point sets while maintaining invariance to geometric transformations (e.g., similarity, affine, rigid). This paper introduces a novel global optimization method…
Mobile robots depend on maps for localization, planning, and other applications. In indoor scenarios, there is often lots of clutter present, such as chairs, tables, other furniture, or plants. While mapping this clutter is important for…
We propose a new algorithm for the design of topologically optimized lightweight structures, under a minimum compliance requirement. The new process enhances a standard level set formulation in terms of computational efficiency, thanks to…
Mobile manipulation planning commonly adopts a decoupled approach that performs planning separately on the base and the manipulator. While this approach is fast, it can generate sub-optimal paths. Another direction is a coupled approach…
A wide range of applications arising in machine learning and signal processing can be cast as convex optimization problems. These problems are often ill-posed, i.e., the optimal solution lacks a desired property such as uniqueness or…
In this work, we present an adaptive unfitted finite element scheme that combines the aggregated finite element method with parallel adaptive mesh refinement. We introduce a novel scalable distributed-memory implementation of the resulting…
The work of Wachter and Biegler suggests that infeasible-start interior point methods (IPMs) developed for linear programming cannot be adapted to nonlinear optimization without significant modification, i.e., using a two-phase or penalty…
Customized grippers have broad applications in industrial assembly lines. Compared with general parallel grippers, the customized grippers have specifically designed fingers to increase the contact area with the workpieces and improve the…
We analyze a goal-oriented adaptive algorithm that aims to efficiently compute the quantity of interest $G(u^\star)$ with a linear goal functional $G$ and the solution $u^\star$ to a general second-order nonsymmetric linear elliptic partial…
The Iterative Closest Point (ICP) algorithm is a crucial component of LiDAR-based SLAM algorithms. However, its performance can be negatively affected in unstructured environments that lack features and geometric structures, leading to low…
We present a new family of zero-field Ising models over $N$ binary variables/spins obtained by consecutive "gluing" of planar and $O(1)$-sized components and subsets of at most three vertices into a tree. The polynomial-time algorithm of…
We study two fundamental optimization problems: (1) scaling a symmetric positive definite matrix by a positive diagonal matrix so that the resulting matrix has row and column sums equal to 1; and (2) minimizing a quadratic function subject…
In this paper, we present several improvements in the parallelization of the in-place merge algorithm, which merges two contiguous sorted arrays into one with an O(T) space complexity (where T is the number of threads). The approach divides…