Related papers: Computing Plan-Length Bounds Using Lengths of Long…
Upper bounds on the maximum number of codewords in a binary code of a given length and minimum Hamming distance are considered. New bounds are derived by a combination of linear programming and counting arguments. Some of these bounds…
We present a new mixed integer formulation for the discrete informative path planning problem in random fields. The objective is to compute a budget constrained path while collecting measurements whose linear estimate results in minimum…
Finite State Machine is a popular modeling notation for various systems, especially software and electronic. Test paths can be automatically generated from the system model to test such systems using a suitable algorithm. This paper…
We study a scenario for route planning in road networks, where the objective to be optimized may change between every shortest path query. Since this invalidates many of the known speedup techniques for road networks that are based on…
We propose a novel method for planning shortest length piecewise-linear motions through complex environments punctured with static, moving, or even morphing obstacles. Using a moment optimization approach, we formulate a hierarchy of…
Classical planning problems are typically defined using lifted first-order representations, which offer compactness and generality. While most planners ground these representations to simplify reasoning, this can cause an exponential blowup…
We consider the bi-criteria shortest-path problem where we want to compute shortest paths on a graph that simultaneously balance two cost functions. While this problem has numerous applications, there is usually no path minimizing both cost…
We formalize the problem of selecting the optimal set of options for planning as that of computing the smallest set of options so that planning converges in less than a given maximum of value-iteration passes. We first show that the problem…
This paper investigates the problem of computing the shortest path between two states under resource constraints in environments with resource-replenishment regions. Namely, the length of the path is limited by a budget that can be restored…
We study the theoretical and practical aspects of computing braids described by approximate descriptions of paths in the plane. Exact algorithms rely on the lexicographic ordering of the points in the plane, which is unstable under…
The paper is concerned with elongating the shortest curvature-bounded path between two oriented points to an expected length. The elongation of curvature-bounded paths to an expected length is fundamentally important to plan missions for…
In connection with the needs of solving optimization problems, the development of conditional minimization methods with convenient numerical implementation continues to attract the attention of mathematicians. In this monograph we propose…
Solving for the minimum time bounded acceleration trajectory with prescribed position and velocity at endpoints is a highly nonlinear problem. The methods and bounds developed in this paper distinguish when there is a continuous…
Many robotics applications benefit from being able to compute multiple locally optimal paths in a given configuration space. Examples include path planning for of tethered robots with cable-length constraints, systems involving cables,…
Given two points in the plane, and a set of "obstacles" given as curves through the plane with assigned weights, we consider the point-separation problem, which asks for the minimum-weight subset of the obstacles separating the two points.…
Online bin stretching is an online packing problem where some of the best known lower and upper bounds were found through computational searches. The limiting factor in obtaining better bounds with such methods is the computational time…
We study the complexity of cutting planes and branching schemes from a theoretical point of view. We give some rigorous underpinnings to the empirically observed phenomenon that combining cutting planes and branching into a branch-and-cut…
We study a path-planning problem amid a set $\mathcal{O}$ of obstacles in $\mathbb{R}^2$, in which we wish to compute a short path between two points while also maintaining a high clearance from $\mathcal{O}$; the clearance of a point is…
The question of what can be computed, and how efficiently, are at the core of computer science. Not surprisingly, in distributed systems and networking research, an equally fundamental question is what can be computed in a…
We present a method to solve planning problems involving sequential decision making in unpredictable environments while accomplishing a high level task specification expressed using the formalism of linear temporal logic. Our method…