Related papers: Optimal tool path planning for 3D printing with sp…
Grid layouts are used by designers to spatially organise user interfaces when sketching and wireframing. However, their design is largely time consuming manual work. This is challenging due to combinatorial explosion and complex objectives,…
The size and complexity of modern astronomical surveys has grown to the point where, in many cases, traditional human scheduling of observations are tedious at best and impractical at worst. Automated scheduling algorithms present an…
The state-of-the-art in optimal control from timed temporal logic specifications, including Metric Temporal Logic (MTL) and Signal Temporal Logic (STL), is based on Mixed-Integer Convex Programming (MICP). The standard MICP approach is…
In this paper, we define the 3D printing routing problem, the problem of finding the optimal path of the nozzle in a fused deposition modeling 3D printing system, so as to minimize the time required to create on object. We formally model…
We present new models of optimization-based task and motion planning (TAMP) for robotic pick-and-place (P&P), which plan action sequences and motion trajectory with low computational costs. We improved an existing state-of-the-art TAMP…
This article describes the methodology for formulating and solving optimal pump scheduling problems with variable-speed pumps (VSPs) as mixed integer linear programs (MILPs) using piece-linear approximations of the network components. The…
Packing and vehicle routing problems play an important role in the area of supply chain management. In this paper, we introduce a non-linear knapsack problem that occurs when packing items along a fixed route and taking into account travel…
Autonomous systems must solve motion planning problems subject to increasingly complex, time-sensitive, and uncertain missions. These problems often involve high-level task specifications, such as temporal logic or chance constraints, which…
The problem of constrained coverage path planning involves a robot trying to cover maximum area of an environment under some constraints that appear as obstacles in the map. Out of the several coverage path planning methods, we consider…
In this work, we address a task allocation problem for human multi-robot settings. Given a set of tasks to perform, we formulate a general Mixed-Integer Linear Programming (MILP) problem aiming at minimizing the overall execution time while…
This paper presents a spatial-based trajectory planning method for automated vehicles under actuator, obstacle avoidance, and vehicle dimension constraints. Starting from a nonlinear kinematic bicycle model, vehicle dynamics are transformed…
Manufacturing of free form parts relies on the calculation of a tool path based on a CAD model, on a machining strategy and on a given numerically controlled machine tool. In order to reach the best possible performances, it is necessary to…
Finding optimal join orders is among the most crucial steps to be performed by query optimisers. Though extensively studied in data management research, the problem remains far from solved: While query optimisers rely on exhaustive search…
This paper introduces a novel compact mixed integer linear programming (MILP) formulation and a discretization discovery-based solution approach for the Vehicle Routing Problem with Time Windows (VRPTW). We aim to solve the optimization…
We propose a mixed-integer linear program (MILP) for multi-agent motion planning that embeds Polytopic Action-based Motion Planning (PAAMP) into a sequence-then-solve pipeline. Region sequences confine each agent to adjacent convex…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
A mathematical programming model for a class of single machine family scheduling problem is described in this technical report, with the aim of comparing the performance in solving the scheduling problem by means of mathematical programming…
This paper focuses on spatial time-optimal motion planning, a generalization of the exact time-optimal path following problem that allows the system to plan within a predefined space. In contrast to state-of-the-art methods, we drop the…
In this paper, we consider the Delay Constrained Unsplittable Shortest Path Routing problem which arises in the field of traffic engineering for IP networks. This problem consists, given a directed graph and a set of commodities, to compute…
For robots to successfully execute tasks assigned to them, they must be capable of planning the right sequence of actions. These actions must be both optimal with respect to a specified objective and satisfy whatever constraints exist in…