Related papers: Efficient Optimization Method for Finding Minimum …

Active perception is a fundamental problem in autonomous robotics in which the robot must decide where to move and what to sense in order to obtain the most informative observations for accomplishing its mission. Existing approaches either…

We propose an algorithm for solving the time-dependent shortest path problem in flow fields where the FIFO (first-in-first-out) assumption is violated. This problem variant is important for autonomous vehicles in the ocean, for example,…

Let $V$ be a set of $n$ points in the plane. The unit-disk graph $G = (V, E)$ has vertex set $V$ and an edge $e_{uv} \in E$ between vertices $u, v \in V$ if the Euclidean distance between $u$ and $v$ is at most 1. The weight of each edge…

Computing all-pairs shortest paths is a fundamental and much-studied problem with many applications. Unfortunately, despite intense study, there are still no significantly faster algorithms for it than the $\mathcal{O}(n^3)$ time algorithm…

We present a numerical method for computing optimal transition pathways and transition rates in systems of stochastic differential equations (SDEs). In particular, we compute the most probable transition path of stochastic equations by…

In this paper, a Gauss-Seidel method with oblique direction (GSO) is proposed for finding the least-squares solution to a system of linear equations, where the coefficient matrix may be full rank or rank deficient and the system is…

We present an optimization algorithm that can identify a global minimum of a potentially nonconvex smooth function with high probability, assuming the Gibbs measure of the potential satisfies a logarithmic Sobolev inequality. Our…

Nearly fifty years ago, Roberts (1978) postulated that Earth's magnetic field, which is generated by turbulent motions of liquid metal in its outer core, likely results from a subcritical (finite-amplitude) dynamo instability characterised…

Tuning step sizes is crucial for the stability and efficiency of optimization algorithms. While adaptive coordinate-wise step sizes have been shown to outperform scalar step size in first-order methods, their use in second-order methods is…

We focus on a replanning scenario for quadrotors where considering time efficiency, non-static initial state and dynamical feasibility is of great significance. We propose a real-time B-spline based kinodynamic (RBK) search algorithm, which…

We propose two algorithms that can find local minima faster than the state-of-the-art algorithms in both finite-sum and general stochastic nonconvex optimization. At the core of the proposed algorithms is $\text{One-epoch-SNVRG}^+$ using…

We consider the adaptive routing problem in multihop wireless networks. The link states are assumed to be random variables drawn from unknown distributions, independent and identically distributed across links and time. This model has…

This work demonstrates the utility of gradients for the global optimization of certain differentiable functions with many suboptimal local minima. To this end, a principle for generating search directions from non-local quadratic…

In most of the shortest path problems like vehicle routing problems and network routing problems, we only need an efficient path between two points source and destination, and it is not necessary to calculate the shortest path from source…

We derive a family of efficient constrained dynamics algorithms by formulating an equivalent linear quadratic regulator (LQR) problem using Gauss principle of least constraint and solving it using dynamic programming. Our approach builds…

Many path-finding algorithms on graphs such as A* are sped up by using a heuristic function that gives lower bounds on the cost to reach the goal. Aiming to apply similar techniques to speed up sampling-based motion-planning algorithms, we…

In this paper, we look into the minimum obstacle displacement (MOD) planning problem from a mobile robot motion planning perspective. This problem finds an optimal path to goal by displacing movable obstacles when no path exists due to…

This paper presents a simple approach to low-thrust optimal-fuel and optimal-time transfer problems between two elliptic orbits using the Cartesian coordinates system. In this case, an orbit is described by its specific angular momentum and…

This paper presents active-set methods for minimizing nonconvex twice-continuously differentiable functions subject to bound constraints. Within the faces of the feasible set, we employ descent methods with Armijo line search, utilizing…

Energy minimization algorithms, such as graph cuts, enable the computation of the MAP solution under certain probabilistic models such as Markov random fields. However, for many computer vision problems, the MAP solution under the model is…