Related papers: Satisfiability Modulo Theory based Methodology for…
In many multi-robot applications, mobile worker robots are often engaged in performing some tasks repetitively by following pre-computed trajectories. As these robots are battery-powered, they need to get recharged at regular intervals. We…
Considering that the physical design of printed circuit board (PCB) follows the principle of modularized design, this paper proposes an automatic placement algorithm for functional modules. We first model the placement problem as a…
In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…
We consider the configuration formation problem in modular robotic systems where a set of singleton modules that are spatially distributed in an environment are required to assume appropriate positions so that they can configure into a new,…
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…
The floorplanning of Systems-on-a-Chip (SoCs) and of chip sub-systems is a crucial step in the physical design flow as it determines the optimal shapes and locations of the blocks that make up the system. Simulated Annealing (SA) has been…
Various non-trivial spaces are becoming popular for embedding structured data such as graphs, texts, or images. Following spherical and hyperbolic spaces, more general product spaces have been proposed. However, searching for the best…
In the constrained planarity setting, we ask whether a graph admits a planar drawing that additionally satisfies a given set of constraints. These constraints are often derived from very natural problems; prominent examples are Level…
A chiplet is an integrated circuit that encompasses a well-defined subset of an overall system's functionality. In contrast to traditional monolithic system-on-chips (SoCs), chiplet-based architecture can reduce costs and increase…
In recent years, finding new satisfiability algorithms for various circuit classes has been a very active line of research. Despite considerable progress, we are still far away from a definite answer on which circuit classes allow fast…
We consider the problem of configuration formation in modular robot systems where a set of modules that are initially in different configurations and located at different locations are required to assume appropriate positions so that they…
Analog integrated circuit (IC) floorplanning is typically a manual process with the placement of components (devices and modules) planned by a layout engineer. This process is further complicated by the interdependence of floorplanning and…
Self-consistent field theory (SCFT) and strong segregation theory (SST) are used to explore the parameter space governing the self-assembly of cylinder forming block copolymers (BCPs) on a modulated substrate. The stability of in-plane…
The problem of estimating the proportion of satisfiable instances of a given CSP (constraint satisfaction problem) can be tackled through weighting. It consists in putting onto each solution a non-negative real value based on its…
Satisfiability-based verification techniques, leveraging modern Boolean satisfiability (SAT) and Satisfiability Modulo Theories (SMT) solvers, have demonstrated efficacy in addressing practical problem instances within program analysis.…
We present a new framework for solving general topology optimization (TO) problems that find an optimal material distribution within a design space to maximize the performance of a structure while satisfying design constraints. These…
Floorplanning determines the shapes and locations of modules on a chip canvas and plays a critical role in optimizing the chip's Power, Performance, and Area (PPA) metrics. However, existing floorplanning approaches often fail to integrate…
Modularity is appealing for solving many problems in optimization. It brings the benefits of manufacturability and reconfigurability to structural optimization, and enables a trade-off between the computational performance of a Periodic…
Space-filling designs are commonly used in computer experiments to fill the space of inputs so that the input-output relationship can be accurately estimated. However, in certain applications such as inverse design or feature-based…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In Part I, we presented the mathematical…