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This paper presents a Genetic Programming (GP) approach to solving multi-robot path planning (MRPP) problems in single-lane workspaces, specifically those easily mapped to graph representations. GP's versatility enables this approach to…
Gaussian processes (GPs) are flexible non-parametric models, with a capacity that grows with the available data. However, computational constraints with standard inference procedures have limited exact GPs to problems with fewer than about…
Devising intelligent robots or agents that interact with humans is a major challenge for artificial intelligence. In such contexts, agents must constantly adapt their decisions according to human activities and modify their goals. In this…
An underlying structure in several sampling-based methods for continuous multi-robot motion planning (MRMP) is the tensor roadmap (TR), which emerges from combining multiple PRM graphs constructed for the individual robots via a tensor…
Motion planning problems can be simplified by admissible projections of the configuration space to sequences of lower-dimensional quotient-spaces, called sequential simplifications. To exploit sequential simplifications, we present the…
Motion planning under differential constraints is a classic problem in robotics. To date, the state of the art is represented by sampling-based techniques, with the Rapidly-exploring Random Tree algorithm as a leading example. Yet, the…
In this paper, we present a new algorithm that extends RRT* and RT-RRT* for online path planning in complex, dynamic environments. Sampling-based approaches often perform poorly in environments with narrow passages, a feature common to many…
Decision trees are essential yet NP-complete to train, prompting the widespread use of heuristic methods such as CART, which suffers from sub-optimal performance due to its greedy nature. Recently, breakthroughs in finding optimal decision…
This paper proposes a novel sampling-based motion planner, which integrates in RRT* (Rapidly exploring Random Tree star) a database of pre-computed motion primitives to alleviate its computational load and allow for motion planning in a…
Rapidly exploring random trees (RRTs) have proven effective in quickly finding feasible solutions to complex motion planning problems. RRT* is an extension of the RRT algorithm that provides probabilistic asymptotic optimality guarantees…
Gradient Boosted Decision Trees (GBDTs) are dominant machine learning algorithms for modeling discrete or tabular data. Unlike neural networks with millions of trainable parameters, GBDTs optimize loss function in an additive manner and…
Graph Generation is a recently introduced enhanced Column Generation algorithm for solving expanded Linear Programming relaxations of mixed integer linear programs without weakening the expanded relaxations which characterize these methods.…
Particle Swarm Optimization (PSO) is a stochastic technique for solving the optimization problem. Attempts have been made to shorten the computation times of PSO based algorithms with massive threads on GPUs (graphic processing units),…
Random Forest's performance can be matched by a single slow-growing tree (SGT), which uses a learning rate to tame CART's greedy algorithm. SGT exploits the view that CART is an extreme case of an iterative weighted least square procedure.…
Currently in HDR brachytherapy planning, a manual fine-tuning of an objective function is necessary to obtain case-specific valid plans. This study intends to facilitate this process by proposing a patient-specific inverse planning…
Gaussian Process (GP) formulation of continuoustime trajectory offers a fast solution to the motion planning problem via probabilistic inference on factor graph. However, often the solution converges to in-feasible local minima and the…
We present Fast Approximate Minimum Spanning Tree (FAMST), a novel algorithm that addresses the computational challenges of constructing Minimum Spanning Trees (MSTs) for large-scale and high-dimensional datasets. FAMST utilizes a…
Many-particle continuous-time quantum walks (CTQWs) represent a resource for several tasks in quantum technology, including quantum search algorithms and universal quantum computation. In order to design and implement CTQWs in a realistic…
This paper studies the problem of control strategy synthesis for dynamical systems with differential constraints to fulfill a given reachability goal while satisfying a set of safety rules. Particular attention is devoted to goals that…
We propose a novel application of coded computing to the problem of the nearest neighbor estimation using MatDot Codes [Fahim. et.al. 2017], that are known to be optimal for matrix multiplication in terms of recovery threshold under storage…