Related papers: Integer Programming as a General Solution Methodol…
We propose a hierarchical architecture for efficiently computing high-quality solutions to structured mixed-integer programs (MIPs). To reduce computational effort, our approach decouples the original problem into a higher level problem and…
It is a notorious open question whether integer programs (IPs), with an integer coefficient matrix $M$ whose subdeterminants are all bounded by a constant $\Delta$ in absolute value, can be solved in polynomial time. We answer this question…
This work presents a novel data-driven path planning algorithm named Instruction-Guided Probabilistic Roadmap (IG-PRM). Despite the recent development and widespread use of mobile robot navigation, the safe and effective travels of mobile…
Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…
Integer programming (IP) is an NP-hard combinatorial optimization problem that is widely used to represent a diverse set of real-world problems spanning multiple fields, such as finance, engineering, logistics, and operations research. It…
Integer programming is concerned with solving linear systems of equations over the non-negative integers. The basic question is to find a solution which minimizes a given linear objective function for a fixed right hand side. Here we also…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
This paper presents a systematic approach for computing local solutions to motion planning problems in non-convex environments using numerical optimal control techniques. It extends the range of use of state-of-the-art numerical optimal…
Mixed-integer programming (MIP) technology offers a generic way of formulating and solving combinatorial optimization problems. While generally reliable, state-of-the-art MIP solvers base many crucial decisions on hand-crafted heuristics,…
Vehicle routing problem (VRP) is a typical discrete combinatorial optimization problem, and many models and algorithms have been proposed to solve the VRP and its variants. Although existing approaches have contributed a lot to the…
We propose a machine learning approach for quickly solving Mixed Integer Programs (MIP) by learning to prioritize a set of decision variables, which we call pseudo-backdoors, for branching that results in faster solution times.…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
In this paper we provide results on using integer programming (IP) and constraint programming (CP) to search for sets of mutually orthogonal latin squares (MOLS). Both programming paradigms have previously successfully been used to search…
Time-Optimal Path Parameterization (TOPP) is a well-studied problem in robotics and has a wide range of applications. There are two main families of methods to address TOPP: Numerical Integration (NI) and Convex Optimization (CO). NI-based…
An important problem in optimization is the construction of mixed-integer programming (MIP) formulations of disjunctive constraints that are both strong and small. Motivated by lower bounds on the number of integer variables that are…
Due to the limited connectivity of gate model quantum devices, logical quantum circuits must be compiled to target hardware before they can be executed. Often, this process involves the insertion of SWAP gates into the logical circuit,…
Multi-objective integer or mixed-integer programming problems typically have disconnected feasible domains, making the task of constructing an approximation of the Pareto front challenging. The present paper shows that certain algorithms…
Purpose of Review Planning collision-free paths for multiple robots is important for real-world multi-robot systems and has been studied as an optimization problem on graphs, called Multi-Agent Path Finding (MAPF). This review surveys…
This paper addresses a mixed integer programming (MIP) formulation for the multi-item uncapacitated lot-sizing problem that is inspired from the trailer manufacturer. The proposed MIP model has been utilized to find out the optimum order…
Optimal control problems including partial differential equation (PDE) as well as integer constraints merge the combinatorial difficulties of integer programming and the challenges related to large-scale systems resulting from discretized…