Related papers: Stable bin packing of non-convex 3D objects with a…
Recent LLM-driven discoveries have renewed interest in geometric packing problems. In this paper, we study several classes of such packing problems through the lens of modern global nonlinear optimization. Starting from comparatively direct…
Warehouse automation plays a pivotal role in enhancing operational efficiency, minimizing costs, and improving resilience to workforce variability. While prior research has demonstrated the potential of machine learning (ML) models to…
Latest research in industrial robotics is aimed at making human robot collaboration possible seamlessly. For this purpose, industrial robots are expected to work on the fly in unstructured and cluttered environments and hence the subject of…
Virtual machine placement is a crucial challenge in cloud computing for efficiently utilizing physical machine resources in data centers. Virtual machine placement can be formulated as a MinUsageTime Dynamic Vector Bin Packing (DVBP)…
We consider the Bin Packing problem with a partition matroid constraint. The input is a set of items of sizes in $(0,1]$, and a partition matroid over the items. The goal is to pack all items in a minimum number of unit-size bins, such that…
The purpose of this paper is to propose and analyze a multi-step iterative algorithm to solve a convex optimization problem and a fixed point problem posed on a Hadamard space. The convergence properties of the proposed algorithm are…
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…
Automating warehouse operations can reduce logistics overhead costs, ultimately driving down the final price for consumers, increasing the speed of delivery, and enhancing the resiliency to workforce fluctuations. The past few years have…
To verify the correct operation of systems, engineers need to determine the set of configurations of a dynamical model that are able to safely reach a specified configuration under a control law. Unfortunately, constructing models for…
We would like robots to achieve purposeful manipulation by placing any instance from a category of objects into a desired set of goal states. Existing manipulation pipelines typically specify the desired configuration as a target 6-DOF pose…
In this paper, a kinematic motion planning algorithm for cooperative spatial payload manipulation is presented. A hierarchical approach is introduced to compute real-time collision-free motion plans for a formation of mobile manipulator…
This paper deals with a bilevel approach of the location-allocation problem with dimensional facilities. We present a general model that allows us to consider very general shapes of domains for the dimensional facilities and we prove the…
We present a fast algorithm for the design of smooth paths (or trajectories) that are constrained to lie in a collection of axis-aligned boxes. We consider the case where the number of these safe boxes is large, and basic preprocessing of…
We study a class of rearrangement problems under a novel pick-n-swap prehensile manipulation model, in which a robotic manipulator, capable of carrying an item and making item swaps, is tasked to sort items stored in lattices of variable…
The paper develops a robotic manipulation system to treat the pressing needs for handling a large number of test tubes in clinical examination and replace or reduce human labor. It presents the technical details of the system, which…
Dense packing in pick-and-place systems is an important feature in many warehouse and logistics applications. Prior work in this space has largely focused on planning algorithms in simulation, but real-world packing performance is often…
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…
The pebble-motion on graphs is a subcategory of multi-agent pathfinding problems dealing with moving multiple pebble-like objects from a node to a node in a graph with a constraint that only one pebble can occupy one node at a given time.…
In this paper we formulate the problem of packing unequal rectangles/squares into a fixed size circular container as a mixed-integer nonlinear program. Here we pack rectangles so as to maximise some objective (e.g. maximise the number of…
In this paper we deal with the restricted Block Relocation Problem. We present a new lower bound and a heuristic approach for the problem. The proposed lower bound can be computed in polynomial time and it is provably better than some…