Related papers: Assembly Planning by Subassembly Decomposition Usi…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
A rigidity circuit (in 2D) is a minimal dependent set in the rigidity matroid, i.e. a minimal graph supporting a non-trivial stress in any generic placement of its vertices in $\mathbb R^2$. Any rigidity circuit on $n\geq 5$ vertices can be…
Algorithm parallelization to leverage multi-core platforms for improving the efficiency of Electronic Design Automation~(EDA) tools plays a significant role in enhancing the scalability of Integrated Circuit (IC) designs. Logic optimization…
With the growing model size, deep neural networks (DNN) are increasingly trained over massive GPU accelerators, which demands a proper parallelization plan that transforms a DNN model into fine-grained tasks and then schedules them to GPUs…
We consider the problem of scheduling $n$ precedence-constrained jobs on $m$ uniformly-related machines in the presence of an arbitrary, fixed communication delay $\rho$. We consider a model that allows job duplication, i.e. processing of…
We describe a system that simplifies the process of debugging programs produced by computer-aided parallelization tools. The system uses relative debugging techniques to compare serial and parallel executions in order to show where the…
Behavior-Interaction-Priority (BIP) is a layered embedded system design and verification framework that provides separation of functionality, synchronization, and priority concerns to simplify system design and to establish correctness by…
A common approach to distributed control design is to impose sparsity constraints on the controller structure. Such constraints, however, may greatly complicate the control design procedure. This paper puts forward an alternative structure,…
Geometric fracture assembly presents a challenging practical task in archaeology and 3D computer vision. Previous methods have focused solely on assembling fragments based on semantic information, which has limited the quantity of objects…
In spatially embedded networks such as transportation and power grids, understanding how edge removals affect connectivity is crucial for robustness analysis. This paper studies a planar graph dismantling problem under an edge-budget…
Parity declustering allows faster reconstruction of a disk array when some disk fails. Moreover, it guarantees uniform reconstruction workload on all surviving disks. It has been shown that parity declustering for one-failure tolerant array…
As inference scales to multi-node deployments, disaggregation - splitting inference into distinct phases - offers a promising path to improving the throughput-interactivity Pareto frontier. Despite growing enthusiasm and a surge of…
Self-assembly materials are traditionally designed so that molecular or meso-scale components form a single kind of large structure. Here, we propose a scheme to create "multifarious assembly mixtures", which self-assemble many different…
Parity compilation is the challenge of laying out the required constraints for the parity mapping in a local way. We present the first constructive compilation algorithm for the parity architecture using plaquettes for arbitrary…
To understand the structure of a network, it can be useful to break it down into its constituent pieces. This is the approach taken in a multitude of successful network analysis methods, such as motif analysis. These methods require one to…
An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…
Constructing a shortest path between two network nodes is a fundamental task in distributed computing. This work develops schemes for the construction of shortest paths in randomized beeping networks between a predetermined source node and…
Many optimization problems can be naturally represented as (hyper) graphs, where vertices correspond to variables and edges to tasks, whose cost depends on the values of the adjacent variables. Capitalizing on the structure of the graph,…
We present a multi-robot task and motion planning method that, when applied to the rearrangement of objects by manipulators, results in solution times up to three orders of magnitude faster than existing methods and successfully plans for…
A parallel direct solution approach based on domain decomposition method (DDM) and directed acyclic graph (DAG) scheduling is outlined. Computations are represented as a sequence of small tasks that operate on domains of DDM or dense matrix…