Related papers: New Formulation of Mixed-Integer Conic Programming…
This work considers the problem of optimal lane changing in a structured multi-agent road environment. A novel motion planning algorithm that can capture long-horizon dependencies as well as short-horizon dynamics is presented. Pivotal to…
This paper presents a novel approach to the joint optimization of job scheduling and data allocation in grid computing environments. We formulate this joint optimization problem as a mixed integer quadratically constrained program. To…
We develop a real-time feasible mixed-integer programming-based decision making (MIP-DM) system for automated driving. Using a linear vehicle model in a road-aligned coordinate frame, the lane change constraints, collision avoidance and…
Customized grippers have specifically designed fingers to increase the contact area with the workpieces and improve the grasp robustness. However, grasp planning for customized grippers is challenging due to the object variations, surface…
Mixed-integer programming (MIP) technology offers a generic way of formulating and solving combinatorial optimization problems. While generally reliable, state-of-the-art MIP solvers base many crucial decisions on hand-crafted heuristics,…
Finding optimal join orders is among the most crucial steps to be performed by query optimisers. Though extensively studied in data management research, the problem remains far from solved: While query optimisers rely on exhaustive search…
We present a finitely convergent cutting-plane algorithm for solving a general mixed-integer convex program given an oracle for solving a general convex program. This method is extended to solve a family of two-stage mixed-integer convex…
Mixed-integer model predictive control (MI-MPC) requires the solution of a mixed-integer quadratic program (MIQP) at each sampling instant under strict timing constraints, where part of the state and control variables can only assume a…
Nonconvex optimization refers to the process of solving problems whose objective or constraints are nonconvex. Historically, this type of problems have been very difficult to solve to global optimality, with traditional solvers often…
We develop an optimization framework for identifying ideal Mixed Binary Linear Programs (MBLP) which is linear when using known input data and nonconvex quadratic over parametric input data. These techniques are applied to various…
Sequential quadratic programming and sequential convex programming efficiently solve nonlinear programs (NLPs) by linearizing inner nonlinearities while preserving the outer convex structure. This paper introduces a sequential mixed-integer…
This paper introduces a framework to plan grasps with multi-fingered hands. The framework includes a multi-dimensional iterative surface fitting (MDISF) for grasp planning and a grasp trajectory optimization (GTO) for grasp imagination. The…
This work solves suboptimal mixed-integer quadratic programs recursively for feedback control of dynamical systems. The proposed framework leverages parametric mixed-integer quadratic programming (MIQP) and hybrid systems theory to model a…
The alternating-current unit commitment problem provides a realistic representation of power system operations, which is a nonconvex mixed-integer nonlinear programming problem and hence is computationally intractable. A common relaxation…
To achieve a successful grasp, gripper attributes such as its geometry and kinematics play a role as important as the object geometry. The majority of previous work has focused on developing grasp methods that generalize over novel object…
Grasp planning for multi-fingered hands is still a challenging task due to the high nonlinear quality metrics, the high dimensionality of hand posture configuration, and complex object shapes. Analytical-based grasp planning algorithms…
Grid layouts are used by designers to spatially organise user interfaces when sketching and wireframing. However, their design is largely time consuming manual work. This is challenging due to combinatorial explosion and complex objectives,…
GBPP is a fast learning based scorer that selects a robot base pose for grasping from a single RGB-D snapshot. The method uses a two stage curriculum: (1) a simple distance-visibility rule auto-labels a large dataset at low cost; and (2) a…
Small-scale Mixed-Integer Quadratic Programming (MIQP) problems often arise in embedded control and estimation applications. Driven by the need for algorithmic simplicity to target computing platforms with limited memory and computing…
Grasp planning for multi-fingered hands is computationally expensive due to the joint-contact coupling, surface nonlinearities and high dimensionality, thus is generally not affordable for real-time implementations. Traditional planning…