Related papers: Optimal Configurations in Coverage Control with Po…
This paper focuses on multi-block optimization problems over transport polytopes, which underlie various applications including strongly correlated quantum physics and machine learning. Conventional block coordinate descent-type methods for…
Non-holonomic vehicles are of immense practical value and increasingly subject to automation. However, controlling them accurately, e.g., when parking, is known to be challenging for automatic control methods, including model predictive…
We study the \textit{min-sum uniform coverage} problem for a swarm of $n$ mobile robots on a given finite line segment and on a circle having finite positive radius, where the circle is given as an input. The robots must coordinate their…
Urban traffic congestion is a chronic problem faced by many cities. It is essentially inefficient infrastructure use which results in increased vehicle fuel consumption and emissions. This in turn adds extra costs to commuters and…
We introduce in this paper a new variant of a location routing problem, to decide, the number and location of drop-off points to install based on the demands of a set of pick-up points, according to a given set-up budget for installing…
In this paper we present a new bound obtained with the probabilistic method for the solution of the Set Covering problem with unit costs. The bound is valid for problems of fixed dimension, thus extending previous similar asymptotic…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
A fundamental control problem for autonomous vehicle formations is formation shape control, in which the agents must maintain a prescribed formation shape using only information measured or communicated from neighboring agents. While a…
We consider the Chance Constrained Model Predictive Control problem for polynomial systems subject to disturbances. In this problem, we aim at finding optimal control input for given disturbed dynamical system to minimize a given cost…
We consider a class of fixed-charge transportation problems over graphs. We show that this problem is strongly NP-hard, but solvable in pseudo-polynomial time over trees using dynamic programming. We also show that the LP formulation…
Balancing passenger demand and vehicle availability is crucial for ensuring the sustainability and effectiveness of urban transportation systems. To address this challenge, we propose a novel hierarchical strategy for the efficient…
In this paper, we study two classic optimization problems: minimum geometric dominating set and set cover. In the dominating-set problem, for a given set of objects in {the} plane as input, the objective is to choose a minimum number of…
This paper addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or…
Monotone systems, also known as order-preserving or cooperative systems, are prevalent in models of engineering applications such as transportation and biological networks. In this paper, we investigate the problem of finding a control…
We present a fast and efficient method for studying vacuum stability constraints in multi-scalar theories beyond the Standard Model. This method is designed for a reliable use in large scale parameter scans. The minimization of the scalar…
In this paper we propose a periodic solution to the problem of persistently covering a finite set of interest points with a group of autonomous mobile agents. These agents visit periodically the points and spend some time carrying out the…
The problem of rapid optimal coverage through the distribution a team of robots or static sensors via means of aerial drop is the topic of this work. Considering a nonholonomic (fixed-wing) aerial robot that corresponds to the carrier of a…
Cooperative driving at signal-free intersections, which aims to improve driving safety and efficiency for connected and automated vehicles, has attracted increasing interest in recent years. However, existing cooperative driving strategies…
We present a homotopic approach to solving challenging, optimization-based motion planning problems. The approach uses Homotopy Optimization, which, unlike standard continuation methods for solving homotopy problems, solves a sequence of…
By a numerical continuation method called a diagonal homotopy we can compute the intersection of two positive dimensional solution sets of polynomial systems. This paper proposes to use this diagonal homotopy as the key step in a procedure…