Related papers: Taming Combinatorial Challenges in Optimal Clutter…
The problem of packing equal circles in a circle is a classic and famous packing problem, which is well-studied in academia and has a variety of applications in industry. This problem is computationally challenging, and researchers mainly…
The gathering over meeting nodes problem requires the robots to gather at one of the pre-defined meeting nodes. This paper investigates the problem with respect to the objective function that minimizes the total number of moves made by all…
Recent research has examined algorithms to minimize robots' resource footprints. The class of combinatorial filters (discrete variants of widely-used probabilistic estimators) has been studied and methods for reducing their space…
We present a research picking prototype related to our company's industrial waste sorting application. The goal of the prototype is to be as autonomous as possible and it both calibrates itself and improves its picking with minimal human…
Clustering consists of partitioning data objects into subsets called clusters according to some similarity criteria. This paper addresses a generalization called quasi-clustering that allows overlapping of clusters, and which we link to…
We study the optimization version of the set partition problem (where the difference between the partition sums are minimized), which has numerous applications in decision theory literature. While the set partitioning problem is NP-hard and…
Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…
Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…
Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved…
A tight continuous relaxation is a crucial factor in solving mixed integer formulations of many NP-hard combinatorial optimization problems. The (weighted) max $k$-cut problem is a fundamental combinatorial optimization problem with…
Combinatorial optimization is a broadly attractive area for potential quantum advantage, but no quantum algorithm has yet made the leap. Noise in quantum hardware remains a challenge, and more sophisticated quantum-classical algorithms are…
We consider the assortment optimization problem with disjoint-cardinality constraints under two-level nested logit model. To solve this problem, we first identify a candidate set with $O(mn^2)$ assortments and show that at least one optimal…
This paper presents a scalable solution with adjustable computation time for the joint problem of scheduling and assigning machines and transporters for missions that must be completed in a fixed order of operations across multiple stages.…
We present a method to apply heuristic search algorithms to solve rearrangement planning by pushing problems. In these problems, a robot must push an object through clutter to achieve a goal. To do this, we exploit the fact that contact…
We present a decoupled algorithm for motion planning for a collection of unit-balls moving among polyhedral obstacles in $\mathbb{R}^d$, for any $d \ge 2$. We assume that the robots have revolving areas in the vicinity of their start and…
Recently, robots have seen rapidly increasing use in homes and warehouses to declutter by collecting objects from a planar surface and placing them into a container. While current techniques grasp objects individually, Multi-Object Grasping…
Mobile manipulators have gained attention for the potential in performing large-scale tasks which are beyond the reach of fixed-base manipulators. The Robotic Task Sequencing Problem for mobile manipulators often requires optimizing the…
We consider the problem of coordinating a fleet of robots in a warehouse so as to maximize the reward achieved within a time limit while respecting problem and robot specific constraints. We formulate the problem as a weighted set packing…
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…
Object rearrangement in a multi-room setup should produce a reasonable plan that reduces the agent's overall travel and the number of steps. Recent state-of-the-art methods fail to produce such plans because they rely on explicit…