Related papers: Resilient Non-Submodular Maximization over Matroid…
Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones. The challenge is choosing an appropriate design from a large search space. In this work, we describe a framework that…
We study dynamic algorithms for the problem of maximizing a monotone submodular function over a stream of $n$ insertions and deletions. We show that any algorithm that maintains a $(0.5+\epsilon)$-approximate solution under a cardinality…
Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based…
This paper presents a novel robust trajectory optimization method for constrained nonlinear dynamical systems subject to unknown bounded disturbances. In particular, we seek optimal control policies that remain robustly feasible with…
We study the problem of maximizing a monotone submodular function with viability constraints. This problem originates from computational biology, where we are given a phylogenetic tree over a set of species and a directed graph, the…
We enable efficient and effective coordination in unpredictable environments, i.e., in environments whose future evolution is unknown a priori and even adversarial. We are motivated by the future of autonomy that involves multiple robots…
In this paper, we introduce a novel technique for constrained submodular maximization, inspired by barrier functions in continuous optimization. This connection not only improves the running time for constrained submodular maximization but…
Maximizing a submodular function is a fundamental task in machine learning and in this paper we study the deletion robust version of the problem under the classic matroids constraint. Here the goal is to extract a small size summary of the…
Matroids are a fundamental object of study in combinatorial optimization. Three closely related and important problems involving matroids are maximizing the size of the union of $k$ independent sets (that is, $k$-fold matroid union),…
Emerging applications of control, estimation, and machine learning, ranging from target tracking to decentralized model fitting, pose resource constraints that limit which of the available sensors, actuators, or data can be simultaneously…
Submodular maximization is a general optimization problem with a wide range of applications in machine learning (e.g., active learning, clustering, and feature selection). In large-scale optimization, the parallel running time of an…
We introduce a new combinatorial structure: the superselector. We show that superselectors subsume several important combinatorial structures used in the past few years to solve problems in group testing, compressed sensing, multi-channel…
Consider the following online version of the submodular maximization problem under a matroid constraint: We are given a set of elements over which a matroid is defined. The goal is to incrementally choose a subset that remains independent…
Constrained optimization problems appear in a wide variety of challenging real-world problems, where constraints often capture the physics of the underlying system. Classic methods for solving these problems rely on iterative algorithms…
Recent progress in (semi-)streaming algorithms for monotone submodular function maximization has led to tight results for a simple cardinality constraint. However, current techniques fail to give a similar understanding for natural…
We investigate the continuous non-monotone DR-submodular maximization problem subject to a down-closed convex solvable constraint. Our first contribution is to construct an example to demonstrate that (first-order) stationary points can…
We study the problem of maximizing a monotone submodular set function subject to linear packing constraints. An instance of this problem consists of a matrix $A \in [0,1]^{m \times n}$, a vector $b \in [1,\infty)^m$, and a monotone…
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…
In this paper, we study stochastic submodular maximization problems with general matroid constraints, that naturally arise in online learning, team formation, facility location, influence maximization, active learning and sensing objective…
Several fundamental problems that arise in optimization and computer science can be cast as follows: Given vectors $v_1,\ldots,v_m \in \mathbb{R}^d$ and a constraint family ${\cal B}\subseteq 2^{[m]}$, find a set $S \in \cal{B}$ that…