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The aim of coordinated planning is to avoid robot-to-robot collisions in a multi-robot system, and there are two standard solution approaches: centralized planning and decoupled planning. Our first contribution is a decoupled planning…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
In this contribution, a novel spatio-temporal prediction algorithm for video coding is introduced. This algorithm exploits temporal as well as spatial redundancies for effectively predicting the signal to be encoded. To achieve this, the…
In this research, a new variant of the vehicle routing problem with time windows is addressed. The nodes associated with the customers are related to each other through AND/OR precedence constraints. The objective is minimizing the total…
Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…
One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…
Production planning must account for uncertainty in a production system, arising from fluctuating demand forecasts. Therefore, this article focuses on the integration of updated customer demand into the rolling horizon planning cycle. We…
This paper considers an extension of the vehicle routing problem with synchronization constraints and introduces the vehicle routing problem with multiple synchronization constraints and variable service time. This important problem is…
Project scheduling in manufacturing environments often requires flexibility in terms of the selection and the exact length of alternative production activities. Moreover, the simultaneous scheduling of multiple lots is mandatory in many…
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
Many major cities suffer from severe traffic congestion. Road expansion in the cites is usually infeasible, and an alternative way to alleviate traffic congestion is to coordinate the route of vehicles. Various path selection and planning…
The densification of urban basements into distribution networks leads to interventions involving different actors. These interventions generally impact the roadway, that is to say the entire road infrastructure, both structurally (vertical…
In this paper we propose a technique that assigns obstacles to clusters used for collision avoidance via Mixed-Integer Programming. This strategy enables a reduction in the number of binary variables used for collision avoidance, thus…
Climate-vulnerable road networks require a paradigm shift from reactive, fix-on-failure repairs to predictive, decision-ready maintenance. This paper introduces ST-ResGAT, a novel Spatio-Temporal Residual Graph Attention Network that fuses…
Due to rapid expansion of urban areas in recent years, management of curbside parking has become increasingly important. To mitigate congestion, while meeting a city's diverse needs, performance-based pricing schemes have received a…
Register allocation (mapping variables to processor registers or memory) and instruction scheduling (reordering instructions to increase instruction-level parallelism) are essential tasks for generating efficient assembly code in a…
We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…
Multi-robot systems are widely used for coverage tasks that require efficient coordination across large environments. In Multi-Robot Coverage Path Planning (MCPP), the objective is typically to minimize the makespan by generating…
Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, a wide variety of motion planners, steer…
The selection of smoothing parameter is central to the estimation of penalized splines. The best value of the smoothing parameter is often the one that optimizes a smoothness selection criterion, such as generalized cross-validation error…