Related papers: New Formulation of Mixed-Integer Conic Programming…
Multi-fingered robotic grasping is an undeniable stepping stone to universal picking and dexterous manipulation. Yet, multi-fingered grippers remain challenging to control because of their rich nonsmooth contact dynamics or because of…
This paper develops model-based grasp planning algorithms for assembly tasks. It focuses on industrial end-effectors like grippers and suction cups, and plans grasp configurations considering CAD models of target objects. The developed…
Maximal Matching (MM) is a fundamental graph problem with diverse applications. While state-of-the-art parallel MM algorithms have a total expected work linear in number of edges, they require randomization, iterative graph processing, and…
Mixed-Integer Programming (MIP), particularly Mixed-Integer Linear Programming (MILP) and Mixed-Integer Quadratic Programming (MIQP), has found extensive applications in domains such as portfolio optimization and network flow control, which…
In robot manipulation, planning the motion of a robot manipulator to grasp an object is a fundamental problem. A manipulation planner needs to generate a trajectory of the manipulator arm to avoid obstacles in the environment and plan an…
Intelligent robot grasping is a very challenging task due to its inherent complexity and non availability of sufficient labelled data. Since making suitable labelled data available for effective training for any deep learning based model…
Mixed integer bilinear programs (MIBLPs) offer tools to resolve robotics motion planning problems with orthogonal rotation matrices or static moment balance, but require long solving times. Recent work utilizing data-driven methods has…
We investigate the theoretical complexity of branch-and-bound (BB) and cutting plane (CP) algorithms for mixed-integer optimization. In particular, we study the relative efficiency of BB and CP, when both are based on the same family of…
In many applications, we need algorithms which can align partially overlapping point sets and are invariant to the corresponding transformations. In this work, a method possessing such properties is realized by minimizing the objective of…
We study a two-stage mixed-integer linear program (MILP) with more than 1 million binary variables in the second stage. We develop a two-level approach by constructing a semi-coarse model (coarsened with respect to variables) and a coarse…
One of the challenges of cloud computing is to optimally and efficiently assign virtual ma- chines to physical machines. The aim of telecommunication operators is to minimize the map- ping cost while respecting constraints regarding…
We propose an approach based on quadratic approximations for solving general Mixed-Integer Nonlinear Programming (MINLP) problems. Specifically, our approach entails the global approximation of the epigraphs of constraint functions by means…
This paper proposes a novel algorithmic design procedure for online constrained optimization grounded in control-theoretic principles. By integrating the Internal Model Principle (IMP) with an anti-windup compensation mechanism, the…
A key ingredient in branch and bound (B&B) solvers for mixed-integer programming (MIP) is the selection of branching variables since poor or arbitrary selection can affect the size of the resulting search trees by orders of magnitude. A…
Grasping objects with limited or no prior knowledge about them is a highly relevant skill in assistive robotics. Still, in this general setting, it has remained an open problem, especially when it comes to only partial observability and…
Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly…
The most important ingredient for solving mixed-integer nonlinear programs (MINLPs) to global epsilon-optimality with spatial branch and bound is a tight, computationally tractable relaxation. Due to both theoretical and practical…
Lagrangian relaxation stands among the most efficient approaches for solving a Mixed Integer Linear Programs (MILP) with difficult constraints. Given any duals for these constraints, called Lagrangian Multipliers (LMs), it returns a bound…
This paper introduces a computationally efficient method that converges globally to B-stationary points of mathematical programs with equilibrium constraints (MPECs). B-stationarity is necessary for optimality and means that no feasible…
The thermal unit commitment (UC) problem often can be formulated as a mixed integer quadratic programming (MIQP), which is difficult to solve efficiently, especially for large-scale instances. The tighter characteristic reduces the search…