Related papers: Assembly Planning by Subassembly Decomposition Usi…
In prioritized planning for vehicles, vehicles plan trajectories in parallel or in sequence. Parallel prioritized planning offers approximately consistent computation time regardless of the number of vehicles but struggles to guarantee…
Both biological and artificial self-assembly processes can take place by a range of different schemes, from the successive addition of identical building blocks, to hierarchical sequences of intermediates, all the way to the fully…
Earlier formulations of the DNA assembly problem were all in the context of perfect assembly; i.e., given a set of reads from a long genome sequence, is it possible to perfectly reconstruct the original sequence? In practice, however, it is…
Distributed systems are comprised of many components that communicate together to form an application. Distributed tracing gives us visibility into these complex interactions, but it can be difficult to reason about the system's behavior,…
Task-based programming models have proven to be a robust and versatile way to approach development of applications for distributed environments. They provide natural programming patterns with high performance. However, execution on this…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
Finding an optimal subset of nodes or links to disintegrate harmful networks is a fundamental problem in network science, with potential applications to anti-terrorism, epidemic control, and many other fields of study. The challenge of the…
Constructing complex computation from simpler building blocks is a defining problem of computer science. In algebraic automata theory, we represent computing devices as semigroups. Accordingly, we use mathematical tools like products and…
Assembly theory (AT) quantifies selection using the assembly equation and identifies complex objects that occur in abundance based on two measurements, assembly index and copy number, where the assembly index is the minimum number of…
Analog layout synthesis requires some elements in the circuit netlist to be matched and placed symmetrically. However, the set of symmetries is very circuit-specific and a versatile algorithm, applicable to a broad variety of circuits, has…
Scheduling in the factory setting is compounded by computational complexity and temporal uncertainty. Together, these two factors guarantee that the process of constructing an optimal schedule will be costly and the chances of executing…
This paper proposes a novel algorithm for the problem of structural image segmentation through an interactive model-based approach. Interaction is expressed in the model creation, which is done according to user traces drawn over a given…
The growing scale of data requires efficient memory subsystems with large memory capacity and high memory performance. Disaggregated architecture has become a promising solution for today's cloud and edge computing for its scalability and…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
Sampling-based algorithms are widely used for motion planning in high-dimensional configuration spaces. However, due to low sampling efficiency, their performance often diminishes in complex configuration spaces with narrow corridors.…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
The future of main memory appears to lie in the direction of new technologies that provide strong capacity-to-performance ratios, but have write operations that are much more expensive than reads in terms of latency, bandwidth, and energy.…
We study a scheduling problem in which jobs may be split into parts, where the parts of a split job may be processed simultaneously on more than one machine. Each part of a job requires a setup time, however, on the machine where the job…
We investigate the minimum line-distortion and the minimum bandwidth problems on unweighted graphs and their relations with the minimum length of a Robertson-Seymour's path-decomposition. The length of a path-decomposition of a graph is the…
We propose the Selective Densification method for fast motion planning through configuration space. We create a sequence of roadmaps by iteratively adding configurations. We organize these roadmaps into layers and add edges between…