Related papers: On Two-Handed Planar Assembly Partitioning with Co…
This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive…
Assembly hinges on reliably forming connections between parts; yet most robotic approaches plan assembly sequences and part poses while treating connectors as an afterthought. Connections represent the foundational physical constraints of…
Assembly planning is a difficult problem for companies. Many disciplines such as design, planning, scheduling, and manufacturing execution need to be carefully engineered and coordinated to create successful product assembly plans. Recent…
We investigate the constrained synchronization problem for weakly acyclic, or partially ordered, input automata. We show that, for input automata of this type, the problem is always in NP. Furthermore, we give a full classification of the…
Shape assembly composes complex shapes geometries by arranging simple part geometries and has wide applications in autonomous robotic assembly and CAD modeling. Existing works focus on geometry reasoning and neglect the actual physical…
Given a set $P$ of $n$ points and a set $S$ of $m$ disks in the plane, the disk coverage problem asks for a smallest subset of disks that together cover all points of $P$. The problem is NP-hard. In this paper, we consider a line-separable…
By creating some new concepts and methods: checking tree, long unit path, direct contradiction unit pair, indirect contradiction unit pair, additional contradiction unit pair, 2-unit layer and 3-unit layer, redundant units, and destroying…
The subject of this paper is the time complexity of approximating Knapsack, Subset Sum, Partition, and some other related problems. The main result is an $\widetilde{O}(n+1/\varepsilon^{5/3})$ time randomized FPTAS for Partition, which is…
Kinematics of mechanisms is intricately coupled to their geometry and their utility often arises out of the ability to perform reproducible motion with fewer actuating degrees of freedom. In this article, we explore the assembly of…
We study extremal and algorithmic questions of subset and careful synchronization in monotonic automata. We show that several synchronization problems that are hard in general automata can be solved in polynomial time in monotonic automata,…
We propose a new algorithm for the fast solution of large, sparse, symmetric positive-definite linear systems, spaND -- sparsified Nested Dissection. It is based on nested dissection, sparsification and low-rank compression. After…
Let $\D$ be a set of $n$ pairwise disjoint unit balls in $\R^d$ and $P$ the set of their center points. A hyperplane $\Hy$ is an \emph{$m$-separator} for $\D$ if each closed halfspace bounded by $\Hy$ contains at least $m$ points from $P$.…
The submodular maximization problem is widely applicable in many engineering problems where objectives exhibit diminishing returns. While this problem is known to be NP-hard for certain subclasses of objective functions, there is a greedy…
The reassembling of a simple connected graph G = (V,E) is an abstraction of a problem arising in earlier studies of network analysis. The reassembling process has a simple formulation (there are several equivalent formulations) relative to…
Finding schedules for pairwise meetings between the members of a complex social group without creating interpersonal conflict is challenging, especially when different relationships have different needs. We formally define and study the…
This paper is motivated by real-life applications of bi-objective optimization. Having many non dominated solutions, one wishes to cluster the Pareto front using Euclidian distances. The p-center problems, both in the discrete and…
Graph partitioning is a key fundamental problem in the area of big graph computation. Previous works do not consider the practical requirements when optimizing the big data analysis in real applications. In this paper, motivated by…
In this paper, we consider an NP-hard problem of scheduling a set of jobs of equal processing time on two machines, given a partial precedence order on the set of jobs, with an objective to minimize the makespan. An approximation algorithm…
Problems in scientific computing, such as distributing large sparse matrix operations, have analogous formulations as hypergraph partitioning problems. A hypergraph is a generalization of a traditional graph wherein "hyperedges" may connect…
In this paper, we consider a class of nonconvex and nonsmooth fractional programming problems, that involve the sum of a convex, possibly nonsmooth function composed with a linear operator and a differentiable, possibly nonconvex function…