Related papers: Don't Rock the Boat: Algorithms for Balanced Dynam…
We are given a set of $n$ jobs and a single processor that can vary its speed dynamically. Each job $J_j$ is characterized by its processing requirement (work) $p_j$, its release date $r_j$ and its deadline $d_j$. We are also given a budget…
As the number of uncontrollable objects in low earth orbit is rising, the thread of collisions and thus the breakdown of working satellites becomes worth analyzing. Consequently, projects on removing objects from the important orbits are…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
This paper is concerned with the container pre-marshalling problem, which involves relocating containers in the storage area so that they can be efficiently loaded onto ships without reshuffles. In reality, however, ship arrival times are…
Optimal transport (OT) and unbalanced optimal transport (UOT) are central in many machine learning, statistics and engineering applications. 1D OT is easily solved, with complexity O(n log n), but no efficient algorithm was known for 1D…
We consider the problem of optimal placement of concentrated masses along a massless elastic column that is clamped at one end and loaded by a nonconservative follower force at the free end. The goal is to find the largest possible interval…
The integration of constrained optimization models as components in deep networks has led to promising advances on many specialized learning tasks. A central challenge in this setting is backpropagation through the solution of an…
Grid-based storage systems with uniformly shaped loads (e.g., containers, pallets, totes) are commonplace in logistics, industrial, and transportation domains. A key performance metric for such systems is the maximization of space…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
Current-day data centers and high-volume cloud services employ a broad set of heterogeneous servers. In such settings, client requests typically arrive at multiple entry points, and dispatching them to servers is an urgent distributed…
In the recent paper \cite{BDT10} we introduced a new problem that we call Bin Packing/Covering with Delivery, or BP/CD for short. Mainly we mean under this expression that we look for not only a good, but a "good and fast" packing or…
Accurate maps are a prerequisite for virtually all mobile robot tasks. Most state-of-the-art maps assume a static world; therefore, dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving…
Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…
We study approximation algorithms for scheduling problems with the objective of minimizing total weighted completion time, under identical and related machine models with job precedence constraints. We give algorithms that improve upon many…
Solving large scale entropic optimal transport problems with the Sinkhorn algorithm remains challenging, and domain decomposition has been shown to be an efficient strategy for problems on large grids. Unbalanced optimal transport is a…
We present a decoupled algorithm for motion planning for a collection of unit-balls moving among polyhedral obstacles in $\mathbb{R}^d$, for any $d \ge 2$. We assume that the robots have revolving areas in the vicinity of their start and…
We consider basic problems of non-preemptive scheduling on uniformly related machines. For a given schedule, defined by a partition of the jobs into m subsets corresponding to the m machines, C_i denotes the completion time of machine i.…
This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward transcription of this formulation into a nonlinear…
A fundamental question in computational geometry is for a set of input points in the Euclidean space, that is subject to discrete changes (insertion/deletion of points at each time step), whether it is possible to maintain an approximate…
In this paper, we introduce a generalized dynamical unbalanced optimal transport framework by incorporating limited control input and mass dissipation, addressing limitations in conventional optimal transport for control applications. We…