Related papers: Two-phase framework for optimal multi-target Lambe…
This paper presents a planning pipeline framework for locomotion in rope-assisted robots climbing vertical surfaces. The proposed framework is formulated as a bi-level optimization scheme that addresses a mixed-integer problem: selecting…
Investigation of detailed and complex optimisation problem formulations that reflect realistic scenarios is a burgeoning field of research. A growing body of work exists for the Travelling Thief Problem, including multi-objective…
Future multi-spacecraft missions require robust autonomous trajectory optimization capabilities to ensure safe and efficient rendezvous operations. This capability hinges on solving non-convex optimal control problems in real-time, although…
A novel trajectory design methodology is proposed in the current work to minimize the state uncertainty in the crucial mission of spacecraft rendezvous. The trajectory is shaped under constraints utilizing a multiple-impulse approach. State…
Designing optimal trajectories for multi-flyby asteroid missions is scientifically critical but technically challenging due to nonlinear dynamics, intermediate constraints, and numerous local optima. This paper establishes a method that…
The moving target traveling salesman problem with obstacles (MT-TSP-O) seeks an obstacle-free trajectory for an agent that intercepts a given set of moving targets, each within specified time windows, and returns to the agent's starting…
We present a novel formulation of the multiple object tracking problem which integrates low and mid-level features. In particular, we formulate the tracking problem as a quadratic program coupling detections and dense point trajectories.…
Quantum search algorithms, such as Grover's algorithm, are anticipated to efficiently solve constrained combinatorial optimization problems. However, applying these algorithms to the traveling salesman problem (TSP) on a quantum circuit…
In this paper we present a fast method based on successive convexification for generating fuel-optimized spacecraft rendezvous trajectories in the presence of mixed-integer constraints. A recently developed paradigm of state-triggered…
The Traveling Salesperson Problem (TSP) is one of the best-known combinatorial optimisation problems. However, many real-world problems are composed of several interacting components. The Traveling Thief Problem (TTP) addresses such…
We give a polynomial time, $(1+\epsilon)$-approximation algorithm for the traveling repairman problem (TRP) in the Euclidean plane and on weighted trees. This improves on the known quasi-polynomial time approximation schemes for these…
We present approximation algorithms for almost all variants of the multi-criteria traveling salesman problem (TSP). First, we devise randomized approximation algorithms for multi-criteria maximum traveling salesman problems (Max-TSP). For…
We introduce a new bounding approach called Continuity* C*, which provides optimality guarantees for the Moving-Target Traveling Salesman Problem (MT-TSP). Our approach relaxes the continuity constraints on the agent's tour by partitioning…
In practice, many types of manipulation actions (e.g., pick-n-place and push) are needed to accomplish real-world manipulation tasks. Yet, limited research exists that explores the synergistic integration of different manipulation actions…
This paper introduces a new formulation that finds the optimum for the Moving-Target Traveling Salesman Problem (MT-TSP), which seeks to find a shortest path for an agent, that starts at a depot, visits a set of moving targets exactly once…
In this paper, we present a polynomial-sized linear programming formulation of the Traveling Salesman Problem (TSP). The proposed linear program is a network flow-based model. Numerical implementation issues and results are discussed. (The…
A new approach to the static route planning problem, based on a multi-staging concept and a \emph{scope} notion, is presented. The main goal (besides implied efficiency of planning) of our approach is to address---with a solid theoretical…
Bi-level optimisation problems have gained increasing interest in the field of combinatorial optimisation in recent years. With this paper, we start the runtime analysis of evolutionary algorithms for bi-level optimisation problems. We…
This paper considers multi-goal motion planning in unstructured, obstacle-rich environments where a robot is required to reach multiple regions while avoiding collisions. The planned motions must also satisfy the differential constraints…
We present a unified probabilistic framework for simultaneous trajectory estimation and planning (STEAP). Estimation and planning problems are usually considered separately, however, within our framework we show that solving them…