Related papers: A Novel Dynamic Programming Approach to the Train …
The electric power distribution network (PDN) and the transportation network (TN) are generally operated/coordinated by different entities. However, they are coupled with each other due to electric vehicle charging stations (EVCSs). This…
An implicit mass-matrix penalization (IMMP) of Hamiltonian dynamics is proposed, and associated dynamical integrators, as well as sampling Monte-Carlo schemes, are analyzed for systems with multiple time scales. The penalization is based on…
This paper proposes a redundancy resolution algorithm for a redundant manipulator based on dynamic programming. This algorithm can compute the desired joint angles at each point on a pre-planned discrete path in Cartesian space, while…
We introduce and study a novel generalization of the classical Knapsack Problem (KP), called the Colored Knapsack Problem (CKP). In this problem, the items are partitioned into classes of colors and the packed items need to be ordered such…
This paper introduces a novel compact mixed integer linear programming (MILP) formulation and a discretization discovery-based solution approach for the Vehicle Routing Problem with Time Windows (VRPTW). We aim to solve the optimization…
We consider a dynamic programming (DP) approach to approximately solving an infinite-horizon constrained Markov decision process (CMDP) problem with a fixed initial-state for the expected total discounted-reward criterion with a…
The vehicle routing problem with two-dimensional loading constraints (2L-CVRP) and the last-in-first-out (LIFO) rule presents significant practical and algorithmic challenges. While numerous heuristic approaches have been proposed to…
Over the past few years, ride-sharing has emerged as an effective way to relieve traffic congestion. A key problem for these platforms is to come up with a revenue-optimal (or GMV-optimal) pricing scheme and an induced vehicle dispatching…
Time-optimal motion planning of autonomous vehicles in complex environments is a highly researched topic. This paper describes a novel approach to optimize and execute locally feasible trajectories for the maneuvering of a truck-trailer…
In a commonly-used version of the Simple Assembly Line Balancing Problem (SALBP-1) tasks are assigned to stations along an assembly line with a fixed cycle time in order to minimize the required number of stations. It has traditionally been…
Recently, machine learning (ML) methods have been developed for increasing the accuracy of robot mechanisms. Complex mechanical issues such as non-linear friction, backlash, flexibility of structure transmission elements can cause these…
We present a novel learning framework to solve the transport-and-packing (TAP) problem in 3D. It constitutes a full solution pipeline from partial observations of input objects via RGBD sensing and recognition to final box placement, via…
Modern trajectory optimization based approaches to motion planning are fast, easy to implement, and effective on a wide range of robotics tasks. However, trajectory optimization algorithms have parameters that are typically set in advance…
This paper considers the vehicle routing problem with stochastic demands (VRPSD) under optimal restocking. We develop an exact algorithm that is effective for solving instances with many vehicles and few customers per route. In our…
We study optimal Multi-robot Path Planning (MPP) on graphs, in order to improve the efficiency of multi-robot system (MRS) in the warehouse-like environment. We propose a novel algorithm, OMRPP (One-way Multi-robot Path Planning) based on…
The Traveling Tournament Problem (TTP) is a benchmark problem in sports scheduling and has been extensively studied in recent years. The Mirrored Traveling Tournament Problem (mTTP) is variation of the TTP that represents certain types of…
This paper build on our recent work where we presented a dual stochastic optimal control formulation of the nonlinear filtering problem [1]. The constraint for the dual problem is a backward stochastic differential equations (BSDE). The…
The train timetabling problem in liberalized railway markets represents a challenge to the coordination between infrastructure managers and railway undertakings. Efficient scheduling is critical to maximizing infrastructure capacity and…
This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…
We study the incremental knapsack problem, where one wishes to sequentially pack items into a knapsack whose capacity expands over a finite planning horizon, with the objective of maximizing time-averaged profits. While various…