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Two-dimensional multilinked structures can benefit aerial robots in both maneuvering and manipulation because of their deformation ability. However, certain types of singular forms must be avoided during deformation. Hence, an additional 1…
The constrained path optimization (CPO) problem takes the following input: (a) a road network represented as a directed graph, where each edge is associated with a "cost" and a "score" value; (b) a source-destination pair and; (c) a budget…
Path-following algorithms are frequently used in composite optimization problems where a series of subproblems, with varying regularization hyperparameters, are solved sequentially. By reusing the previous solutions as initialization,…
The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…
Precise positioning and fast traversal times are crucial in achieving high productivity and scale in machining. This paper compares two optimization-based predictive control approaches that achieve high performance. In the first approach,…
Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks' complexity and intrinsic environmental unpredictability. Studying biological motor control can provide…
The paper concerns with novel first-order methods for monotone variational inequalities. They use a very simple linesearch procedure that takes into account a local information of the operator. Also the methods do not require…
This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is optimised. In many works, these simplified…
Architecture optimization, which is a technique for finding an efficient neural network that meets certain requirements, generally reduces to a set of multiple-choice selection problems among alternative sub-structures or parameters. The…
The problem of constrained coverage path planning involves a robot trying to cover maximum area of an environment under some constraints that appear as obstacles in the map. Out of the several coverage path planning methods, we consider…
This paper addresses path set planning that yields important applications in robot manipulation and navigation such as path generation for deformable object keypoints and swarms. A path set refers to the collection of finite agent paths to…
Optimization is an essential component for solving problems in wide-ranging fields. Ideally, the objective function should be designed such that the solution is unique and the optimization problem can be solved stably. However, the…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
This paper presents a novel feedback method on the motion planning for unicycle robots in environments with static obstacles, along with an extension to the distributed planning and coordination in multi-robot systems. The method employs a…
Multibody dynamics simulators are an important tool in many fields, including learning and control for robotics. However, many existing dynamics simulators suffer from inaccuracies when dealing with constrained mechanical systems due to…
In this extended abstract, we report on ongoing work towards an approximate multimodal optimization algorithm with asymptotic guarantees. Multimodal optimization is the problem of finding all local optimal solutions (modes) to a path…
Two-stage methods addressing continuous shortest path problems start local minimization from discrete shortest paths in a spatial graph. The convergence of such hybrid methods to global minimizers hinges on the discretization error induced…
Recent research has shown that optimal picker tours in rectangular warehouses exhibit deterministic travel patterns within each aisle, and that certain previously considered traversals are unnecessary. Using these insights, this paper…
This paper proposes an accelerated proximal point method for maximally monotone operators. The proof is computer-assisted via the performance estimation problem approach. The proximal point method includes various well-known convex…
This paper considers the problem of real-time mode scheduling in linear time-varying switched systems subject to a quadratic cost functional. The execution time of hybrid control algorithms is often prohibitive for real-time applications…