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Learning-based heuristics for solving combinatorial optimization problems has recently attracted much academic attention. While most of the existing works only consider the single objective problem with simple constraints, many real-world…

In this paper, we study the problem of optimal multi-robot path planning (MPP) on graphs. We propose two multiflow based integer linear programming (ILP) models that computes minimum last arrival time and minimum total distance solutions…

This article investigates the problem of controlling linear time-invariant systems subject to time-varying and a priori unknown cost functions, state and input constraints, and exogenous disturbances. We combine the online convex…

We present a homotopic approach to solving challenging, optimization-based motion planning problems. The approach uses Homotopy Optimization, which, unlike standard continuation methods for solving homotopy problems, solves a sequence of…

Ride-pooling services, such as UberPool and Lyft Shared Saver, enable a single vehicle to serve multiple customers within one shared trip. Efficient path-planning algorithms are crucial for improving the performance of such systems. For…

Prior studies have found that explaining robot decisions and actions helps to increase system transparency, improve user understanding, and enable effective human-robot collaboration. In this paper, we present a system for generating…

In the context of mapping high-level algorithms to hardware, we consider the basic problem of generating an efficient hardware implementation of a single threaded program, in particular, that of an inner loop. We describe a control-flow…

We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…

Global pooling is one of the most significant operations in many machine learning models and tasks, which works for information fusion and structured data (like sets and graphs) representation. However, without solid mathematical…

The capability afforded by Vehicle-to-Vehicle communication improves situational awareness and provides advantages for many of the traffic problems caused by reduced visibility or No-Line-of-Sight situations, being useful for both…

In this paper, we present a systematic effort to design, evaluate, and implement a realistic conversational recommender system (CRS). The objective of our system is to allow users to input free-form text to request recommendations, and then…

Simultaneously visualizing the decision and objective space of continuous multi-objective optimization problems (MOPs) recently provided key contributions in understanding the structure of their landscapes. For the sake of advancing these…

To reliably model real robot characteristics, interval linear systems of equations allow to describe families of problems that consider sets of values. This allows to easily account for typical complexities such as sets of joint states and…

We propose a space mapping-based optimization algorithm for microscopic interacting particle dynamics which are inappropriate for direct optimization. This is of relevance for example in applications with bounded domains such that the…

Machine learning based image classification algorithms, such as deep neural network approaches, will be increasingly employed in critical settings such as quality control in industry, where transparency and comprehensibility of decisions…

This paper investigates the multi-compartment vehicle routing problem with multiple time windows (MCVRPMTW), an extension of the classical vehicle routing problem with time windows that considers vehicles equipped with multiple compartments…

Vehicle routing problems (VRPs), which can be found in numerous real-world applications, have been an important research topic for several decades. Recently, the neural combinatorial optimization (NCO) approach that leverages a…

An important new trend in additive manufacturing is the use of optimization to automatically design industrial objects, such as beams, rudders or wings. Topology optimization, as it is often called, computes the best configuration of…

Many planning applications involve complex relationships defined on high-dimensional, continuous variables. For example, robotic manipulation requires planning with kinematic, collision, visibility, and motion constraints involving robot…

In many real-world settings, problem instances that need to be solved are quite similar, and knowledge from previous optimization runs can potentially be utilized. We explore this for the Traveling Salesperson problem with time windows…