Related papers: Computing skeletons for rectilinearly-convex obsta…
The minimum constraint removal problem seeks to find the minimum number of constraints, i.e., obstacles, that need to be removed to connect a start to a goal location with a collision-free path. This problem is NP-hard and has been studied…
Given a set of disjoint simple polygons $\sigma_1, \ldots, \sigma_n$, of total complexity $N$, consider a convexification process that repeatedly replaces a polygon by its convex hull, and any two (by now convex) polygons that intersect by…
Polyhedral convex set optimization problems are the simplest optimization problems with set-valued objective function. Their role in set optimization is comparable to the role of linear programs in scalar optimization. Vector linear…
Error bounds, which refer to inequalities that bound the distance of vectors in a test set to a given set by a residual function, have proven to be extremely useful in analyzing the convergence rates of a host of iterative methods for…
We employ the proximal averaged Newton-type method for optimal control (PANOC) to solve obstacle avoidance problems in real time. We introduce a novel modeling framework for obstacle avoidance which allows us to easily account for generic,…
Given a set $S$ of $n$ line segments in the plane, we say that a region $\mathcal{R}\subseteq \mathbb{R}^2$ is a {\em stabber} for $S$ if $\mathcal{R}$ contains exactly one endpoint of each segment of $S$. In this paper we provide optimal…
This paper considers the collision avoidance problem in a multi-agent multi-obstacle framework. The originality in solving this intensively studied problem resides in the proposed geometrical view combined with differential flatness for…
We present a fixed-parameter tractable (FPT) algorithm to find a shortest curve that encloses a set of k required objects in the plane while paying a penalty for enclosing unwanted objects. The input is a set of interior-disjoint simple…
We consider the Vertex Cover problem in intersection graphs of axis-parallel rectangles on the plane. We present two algorithms: The first is an EPTAS for non-crossing rectangle families, rectangle families $\calR$ where $R_1 \setminus R_2$…
The focus of this paper is on a thin obstacle problem where the obstacle is defined on the intersection between a hyper-plane $\Gamma$ in $\mathbb{R}^n$ and a periodic perforation $\mathcal{T}_\varepsilon$ of $\mathbb{R}^n$, depending on a…
Benson's outer approximation algorithm and its variants are the most frequently used methods for solving linear multiobjective optimization problems. These algorithms have two intertwined components: one-dimensional linear optimization one…
The interdiction problem arises in a variety of areas including military logistics, infectious disease control, and counter-terrorism. In the typical formulation of network interdiction, the task of the interdictor is to find a set of edges…
Persistence diagrams (PDs) are now routinely used to summarize the underlying topology of complex data. Despite several appealing properties, incorporating PDs in learning pipelines can be challenging because their natural geometry is not…
We propose a family of nonconvex optimization algorithms that are able to save gradient and negative curvature computations to a large extent, and are guaranteed to find an approximate local minimum with improved runtime complexity. At the…
Obstacle avoidance between polytopes is a challenging topic for optimal control and optimization-based trajectory planning problems. Existing work either solves this problem through mixed-integer optimization, relying on simplification of…
This paper introduces a novel approach that integrates future closest point predictions into the distance constraints of a collision avoidance controller, leveraging convex hulls with closest point distance calculations. By addressing…
We study the problem of computing the minimum area triangle that circumscribes a given $n$-sided convex polygon touching edge-to-edge. In other words, we compute the minimum area triangle that is the intersection of 3 half-planes out of $n$…
In a previous paper it was shown that a machine learning regression problem can be solved within the framework of random function theory, with the optimal kernel analytically derived from symmetry and indifference principles and coinciding…
A central aspect of robotic motion planning is collision avoidance, where a multitude of different approaches are currently in use. Optimization-based motion planning is one method, that often heavily relies on distance computations between…
Given an even number of points in a plane, we are interested in matching all the points by straight line segments so that the segments do not cross. Bottleneck matching is a matching that minimizes the length of the longest segment. For…