Related papers: Cellular Decomposition for Non-repetitive Coverage…
We investigate {\em multidimensional covering mechanism-design} problems, wherein there are $m$ items that need to be covered and $n$ agents who provide covering objects, with each agent $i$ having a private cost for the covering objects he…
Two non-overlapping domain decomposition methods are presented for the mixed finite element formulation of linear elasticity with weakly enforced stress symmetry. The methods utilize either displacement or normal stress Lagrange multiplier…
A broad range of inverse problems can be abstracted into the problem of minimizing the sum of several convex functions in a Hilbert space. We propose a proximal decomposition algorithm for solving this problem with an arbitrary number of…
In this paper, we present a simple yet effective formulation called Coverage Axis for 3D shape skeletonization. Inspired by the set cover problem, our key idea is to cover all the surface points using as few inside medial balls as possible.…
A Task Decomposition method for iterative learning Model Predictive Control (TDMPC) for linear time-varying systems is presented. We consider the availability of state-input trajectories which solve an original task T1, and design a…
In this paper, we propose a low-rank coordinate descent approach to structured semidefinite programming with diagonal constraints. The approach, which we call the Mixing method, is extremely simple to implement, has no free parameters, and…
The inherent non-convexity of poriferous surfaces typically entraps agents in local minima and complicates workload distribution. To resolve this, we propose a distributed diffeomorphic coverage control framework for the multi-agent system…
In this work, we address the limitation of surface fitting-based grasp planning algorithm, which primarily focuses on geometric alignment between the gripper and object surface while overlooking the stability of contact point distribution,…
This paper considers the collaborative graph exploration problem in GPS-denied environments, where a group of robots are required to cover a graph environment while maintaining reliable pose estimations in collaborative simultaneous…
We present a simple and easy-to-implement algorithm to detect plan infeasibility in kinematic motion planning. Our method involves approximating the robot's configuration space to a discrete space, where each degree of freedom has a finite…
Path cover is a well-known intractable problem that finds a minimum number of vertex disjoint paths in a given graph to cover all the vertices. We show that a variant, where the objective function is not the number of paths but the number…
Observing few-photon optomechanical effects remains a significant challenge in optomechanical systems. To investigate intrinsic radiation-pressure-induced nonlinear effects in the few-photon regime, it is essential to strengthen the…
We propose a new method for defragmenting the module layout of a reconfigurable device, enabled by a novel approach for dealing with communication needs between relocated modules and with inhomogeneities found in commonly used FPGAs. Our…
In this paper we consider two special cases of the "cover-by-pairs" optimization problem that arise when we need to place facilities so that each customer is served by two facilities that reach it by disjoint shortest paths. These problems…
Tectonic faults are commonly modelled as Volterra or Somigliana dislocations in an elastic medium. Various solution methods exist for this problem. However, the methods used in practice are often limiting, motivated by reasons of…
Optimization-based methods are widely used for computing fast, diverse solutions for complex tasks such as collision-free movement or planning in the presence of contacts. However, most of these methods require enforcing non-penetration…
Low-rank approximations are essential in modern data science. The interpolative decomposition provides one such approximation. Its distinguishing feature is that it reuses columns from the original matrix. This enables it to preserve matrix…
The problem of covering a region of the plane with a fixed number of minimum-radius identical balls is studied in the present work. An explicit construction of bi-Lipschitz mappings is provided to model small perturbations of the union of…
In the classical context of robotic mapping and localization, map matching is typically defined as the task of finding a rigid transformation (i.e., 3DOF rotation/translation on the 2D moving plane) that aligns the query and reference maps…
Reconfigurable multi-robot cells offer a promising approach to meet fluctuating assembly demands. However, the recurrent planning of their configurations introduces new challenges, particularly in generating optimized, coordinated…