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Trajectory retiming is the task of computing a feasible time parameterization to traverse a path. It is commonly used in the decoupled approach to trajectory optimization whereby a path is first found, then a retiming algorithm computes a…
Learning-based optical flow estimation has been dominated with the pipeline of cost volume with convolutions for flow regression, which is inherently limited to local correlations and thus is hard to address the long-standing challenge of…
Given a flow network with variable suppliers and fixed consumers, the minimax flow problem consists in minimizing the maximum flow between nodes, subject to flow conservation and capacity constraints. We solve this problem over acyclic…
A time-optimal problem for redundantly actuated robots moving on a specified path is a challenging problem. Although the problem is well explored and there are proposed solutions based on phase plane analysis, there are still several…
The future of mobility-as-a-Service (Maas)should embrace an integrated system of ride-hailing, street-hailing and ride-sharing with optimised intelligent vehicle routing in response to a real-time, stochastic demand pattern. We aim to…
We formulate an optimization problem for maximizing the data rate of a common message transmitted from nodes within an airborne network broadcast to a central station receiver while maintaining a set of intra-network rate demands. Assuming…
We study the problem of online Multi-Agent Pickup and Delivery (MAPD), where a team of agents must repeatedly serve dynamically appearing tasks on a shared map. Existing online methods either rely on simple heuristics, which result in poor…
Ride-pooling, which accommodates multiple passenger requests in a single trip, has the potential to significantly increase fleet utilization in shared mobility platforms. The ride-pooling assignment problem finds optimal co-riders to…
We present MCFR, a multicasting concurrent face routing algorithm that uses geometric routing to deliver a message from source to multiple targets. We describe the algorithm's operation, prove it correct, estimate its performance bounds and…
This paper addresses the problem of enumerating all supported efficient solutions for a linear multi-objective integer minimum cost flow problem (MOIMCF). It derives an output-polynomial time algorithm to determine all supported efficient…
This study aims to develop a real-time intersection optimization (RIO) control algorithm to efficiently serve traffic of Connected and Automated Vehicles (CAVs) and conventional vehicles (CNVs). This paper extends previous work to consider…
Location Routing is a fundamental planning problem in logistics, in which strategic location decisions on the placement of facilities (depots, distribution centers, warehouses etc.) are taken based on accurate estimates of operational…
Wireless ad hoc networks are seldom characterized by one single performance metric, yet the current literature lacks a flexible framework to assist in characterizing the design tradeoffs in such networks. In this work, we address this…
The massive integration of distributed energy resources changes the operational demands of the electric power distribution system, motivating optimization-based approaches. The added computational complexities of the resulting optimal power…
In this paper, a tunneling method is developed for nonlinear multiobjective optimization problems using some ideas of the single objective tunneling method. The proposed method does not require any a priori chosen parameters or ordering…
This paper proposes an on-orbit servicing logistics optimization framework that is capable of performing the short-term operational scheduling and long-term strategic planning of sustainable servicing infrastructures that involve…
Empty taxi cruising represents a wastage of resources in the context of urban taxi services. In this work, we seek to minimize such wastage. An analysis of a large trace of taxi operations reveals that the services' inefficiency is caused…
We consider the optimal control problem of steering an agent population to a desired distribution over an infinite horizon. This is an optimal transport problem over dynamical systems, which is challenging due to its high computational…
We investigate a multi-agent planning problem, where each agent aims to achieve an individual task while avoiding collisions with others. We assume that each agent's task is expressed as a Time-Window Temporal Logic (TWTL) specification…
This work describes the orchestration of a fleet of rotary-wing Unmanned Aerial Vehicles (UAVs) for harvesting prioritized traffic from random distributions of heterogeneous users with Multiple Input Multiple Output (MIMO) capabilities. In…