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Local search has recently been applied to SMT problems over various arithmetic theories. Among these, nonlinear real arithmetic poses special challenges due to its uncountable solution space and potential need to solve higher-degree…
Motion planning for robotic systems with complex dynamics is a challenging problem. While recent sampling-based algorithms achieve asymptotic optimality by propagating random control inputs, their empirical convergence rate is often poor,…
This is a survey of "Iterated Local Search", a general purpose metaheuristic for finding good solutions of combinatorial optimization problems. It is based on building a sequence of (locally optimal) solutions by: (1) perturbing the current…
Path planning is an active area of research essential for many applications in robotics. Popular techniques include graph-based searches and sampling-based planners. These approaches are powerful but have limitations. This paper continues…
Probabilistic sampling methods have become very popular to solve single-shot path planning problems. Rapidly-exploring Random Trees (RRTs) in particular have been shown to be very efficient in solving high dimensional problems. Even though…
The search of hardware-compatible strategies for solving NP-hard combinatorial optimization problems (COPs) is an important challenge of today s computing research because of their wide range of applications in real world optimization…
The Maximum Satisfiability problem (MaxSAT) is a major optimization challenge with numerous practical applications. In recent MaxSAT evaluations, most MaxSAT solvers have incorporated an Integer Linear Programming (ILP) solver into their…
The simple assembly line balancing problem (SALBP) concerns the assignment of tasks with pre-defined processing times to work stations that are arranged in a line. Hereby, precedence constraints between the tasks must be respected. The…
Recent progress in randomized motion planners has led to the development of a new class of sampling-based algorithms that provide asymptotic optimality guarantees, notably the RRT* and the PRM* algorithms. Careful analysis reveals that the…
The remarkable achievements of machine learning techniques in analyzing discrete structures have drawn significant attention towards their integration into combinatorial optimization algorithms. Typically, these methodologies improve…
Maximum Satisfiability (MaxSAT) is an optimization variant of the Boolean Satisfiability (SAT) problem. In general, MaxSAT algorithms perform a succession of SAT solver calls to reach an optimum solution making extensive use of cardinality…
This paper studies the problem of Simultaneous Sparse Approximation (SSA). This problem arises in many applications which work with multiple signals maintaining some degree of dependency such as radar and sensor networks. In this paper, we…
Recent work proposed the UCTMAXSAT algorithm to address Maximum Satisfiability Problems (MaxSAT) and shown improved performance over pure Stochastic Local Search algorithms (SLS). UCTMAXSAT is based on Monte Carlo Tree Search but it uses…
The problem of Multi-agent Path Finding (MAPF) consists in providing agents with efficient paths while preventing collisions. Numerous solvers have been developed so far since MAPF is critical for practical applications such as automated…
PIBT is a rule-based Multi-Agent Path Finding (MAPF) solver, widely used as a low-level planner or action sampler in many state-of-the-art approaches. Its primary advantage lies in its exceptional speed, enabling action selection for…
The efficiency of sampling-based motion planning brings wide application in autonomous mobile robots. The conventional rapidly exploring random tree (RRT) algorithm and its variants have gained significant successes, but there are still…
Constrained Optimum Path (COP) problems appear in many real-life applications, especially on communication networks. Some of these problems have been considered and solved by specific techniques which are usually difficult to extend. In…
This paper presents a novel approach to enhance the Binary-Addition-Tree algorithm (BAT) by integrating incremental learning techniques. BAT, known for its simplicity in development, implementation, and application, is a powerful implicit…
Model-based iterative reconstruction (MBIR) techniques have demonstrated many advantages in X-ray CT image reconstruction. The MBIR approach is often modeled as a convex optimization problem including a data fitting function and a penalty…
This paper addresses the fast replanning problem in dynamic environments with moving obstacles. Since for randomly moving obstacles the future states are unpredictable, the proposed method, called SMARRT, reacts to obstacle motions and…