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In this paper, we introduce a technique to enhance the computational efficiency of solution algorithms for high-dimensional discrete simulation-based optimization problems. The technique is based on innovative adaptive partitioning…
Grid Computing is a type of parallel and distributed systems that is designed to provide reliable access to data and computational resources in wide area networks. These resources are distributed in different geographical locations, however…
Numerous tasks in program analysis and synthesis reduce to deciding reachability in possibly infinite graphs such as those induced by Petri nets. However, the Petri net reachability problem has recently been shown to require non-elementary…
Combinatorial optimization is considered a promising class of problems in which quantum computers can show significant advantages. However, problems of practical relevance typically have more variables than current or foreseeable quantum…
Vector addition systems (VAS) constitute an important model of computation and concurrency that is equally expressive as the Petri net model. Recently, a lot of research has been conducted on vector addition systems with states (VASS),…
Autonomous motion planning under unknown nonlinear dynamics requires learning system properties while navigating toward a target. In this work, we develop a hierarchical planning-control framework that enables online motion synthesis with…
The sequential compactness afforded hybrid systems under mild regularity constraints guarantee outer/upper semicontinuous dependence of solutions on initial conditions and perturbations. For reachable sets of hybrid systems, this property…
Plans often change due to changes in the situation or our understanding of the situation. Sometimes, a feasible plan may not even exist, and identifying such infeasibilities is useful to determine when requirements need adjustment. Common…
This paper presents a novel algorithm for reachability analysis of nonlinear discrete-time systems. The proposed method combines constrained zonotopes (CZs) with polyhedral relaxations of factorable representations of nonlinear functions to…
We present the first review of methods to overapproximate the set of reachable states of linear time-invariant systems subject to uncertain initial states and input signals for short time horizons. These methods are fundamental to…
Micro-transit services offer a promising solution to enhance urban mobility and access, particularly by complementing existing public transit. However, effectively designing these services requires determining optimal service zones for…
In the scope of discrete finite-state models of interacting components, we present a novel algorithm for identifying sets of local states of components whose activity is necessary for the reachability of a given local state. If all the…
This paper focuses on data structures for multi-core reachability, which is a key component in model checking algorithms and other verification methods. A cornerstone of an efficient solution is the storage of visited states. In related…
This paper presents novel strategies for spawning and fusing submaps within an elastic dense 3D reconstruction system. The proposed system uses spatial understanding of the scanned environment to control memory usage growth by fusing…
This paper describes a new fast and implicitly parallel approach to neighbour-finding in multi-resolution Smoothed Particle Hydrodynamics (SPH) simulations. This new approach is based on hierarchical cell decompositions and sorted…
Diffusion-based generative methods have proven effective in modeling trajectories with offline datasets. However, they often face computational challenges and can falter in generalization, especially in capturing temporal abstractions for…
Reachable sets for a dynamical system describe collections of system states that can be reached in finite time, subject to system dynamics. They can be used to guarantee goal satisfaction in controller design or to verify that unsafe…
We present a method of computing backward reachable sets for nonlinear discrete-time control systems possessing continuous symmetries. The starting point is a dynamic game formulation of reachability analysis where control inputs aim to…
This paper presents RichMap, a high-precision reachability map representation designed to balance efficiency and flexibility for versatile robot manipulation tasks. By refining the classic grid-based structure, we propose a streamlined…
The solution convergence of Markov Decision Processes (MDPs) can be accelerated by prioritized sweeping of states ranked by their potential impacts to other states. In this paper, we present new heuristics to speed up the solution…