Related papers: Domain-Independent Cost-Optimal Planning in ASP
SAPA is a domain-independent heuristic forward chaining planner that can handle durative actions, metric resource constraints, and deadline goals. It is designed to be capable of handling the multi-objective nature of metric temporal…
Operating Earth observing satellites requires efficient planning methods that coordinate activities of multiple spacecraft. The satellite task planning problem entails selecting actions that best satisfy mission objectives for autonomous…
Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless planner which directly conducts such abstraction on the unfused…
Soft goals extend the classical model of planning with a simple model of preferences. The best plans are then not the ones with least cost but the ones with maximum utility, where the utility of a plan is the sum of the utilities of the…
Classical list scheduling is a very popular and efficient technique for scheduling jobs in parallel and distributed platforms. It is inherently centralized. However, with the increasing number of processors, the cost for managing a single…
Process Planning and Scheduling (PPS) is an essential and practical topic but a very intractable problem in manufacturing systems. Many research use iterative methods to solve such problems; however, they cannot achieve satisfactory results…
Answer Set Programming (ASP) is a well-established formalism for logic programming. Problem solving in ASP requires to write an ASP program whose answers sets correspond to solutions. Albeit the non-existence of answer sets for some ASP…
Robots need task planning algorithms to sequence actions toward accomplishing goals that are impossible through individual actions. Off-the-shelf task planners can be used by intelligent robotics practitioners to solve a variety of planning…
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…
Optimal multiple sequence alignment by dynamic programming, like many highly dimensional scientific computing problems, has failed to benefit from the improvements in computing performance brought about by multi-processor systems, due to…
Task and motion planning (TAMP) frameworks address long and complex planning problems by integrating high-level task planners with low-level motion planners. However, existing TAMP methods rely heavily on the manual design of planning…
This paper examines scheduling problem denoted as $P|seq, ser|C_{max}$ in Graham's notation; in other words, scheduling of tasks on parallel identical machines ($P$) with sequence-dependent setups ($seq$) each performed by one of the…
In this work we study the problem of scheduling tasks with dependencies in multiprocessor architectures where processors have different speeds. We present the preemptive algorithm "Save-Energy" that given a schedule of tasks it post…
Scheduling query execution plans is a particularly complex problem in shared-nothing parallel systems, where each site consists of a collection of local time-shared (e.g., CPU(s) or disk(s)) and space-shared (e.g., memory) resources and…
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…
We consider warm-started optimized trajectory planning for autonomous surface vehicles (ASVs) by combining the advantages of two types of planners: an A* implementation that quickly finds the shortest piecewise linear path, and an optimal…
In this paper we present two versions of a parallel working-set map on p processors that supports searches, insertions and deletions. In both versions, the total work of all operations when the map has size at least p is bounded by the…
Basis splines enable a time-continuous feasibility check with a finite number of constraints. Constraints apply to the whole trajectory for motion planning applications that require a collision-free and dynamically feasible trajectory.…
We study scheduling problems on a machine with varying speed. Assuming a known speed function we ask for a cost-efficient scheduling solution. Our main result is a PTAS for minimizing the total weighted completion time in this setting. This…
We use one-step conditional risk mappings to formulate a risk averse version of a total cost problem on a controlled Markov process in discrete time infinite horizon. The nonnegative one step costs are assumed to be lower semi-continuous…