Related papers: On Two-Handed Planar Assembly Partitioning with Co…
The optimal robot assembly planning problem is challenging due to the necessity of finding the optimal solution amongst an exponentially vast number of possible plans, all while satisfying a selection of constraints. Traditionally, robotic…
We consider the $\mathcal{NP}$-hard problem $\mathrm{P} \mathbf{\vert} \mathrm{pmtn, setup=s_i} \mathbf{\vert} \mathrm{C_{\max}}$, the problem of scheduling $n$ jobs, which are divided into $c$ classes, on $m$ identical parallel machines…
We consider the path planning problem for a 2-link robot amidst polygonal obstacles. Our robot is parametrizable by the lengths $\ell_1, \ell_2>0$ of its two links, the thickness $\tau \ge 0$ of the links, and an angle $\kappa$ that…
Joint channel and rate allocation with power minimization in orthogonal frequency-division multiple access (OFDMA) has attracted extensive attention. Most of the research has dealt with the development of sub-optimal but low-complexity…
This paper considers the problem of designing a dynamical system to solve constrained optimization problems in a distributed way and in an anytime fashion (i.e., such that the feasible set is forward invariant). For problems with separable…
Disjointly constrained multilinear programming concerns the problem of maximizing a multilinear function on the product of finitely many disjoint polyhedra. While maximizing a linear function on a polytope (linear programming) is known to…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
Given a hypergraph $H$, the Planar Support problem asks whether there is a planar graph $G$ on the same vertex set as $H$ such that each hyperedge induces a connected subgraph of $G$. Planar Support is motivated by applications in graph…
Efficient utilization of cooperating robots in the assembly of aircraft structures relies on balancing the workload of the robots and ensuring collision-free scheduling. We cast this problem as that of allocating a large number of…
We announce two breakthrough results concerning important questions in the Theory of Computational Complexity. In this expository paper, a systematic and comprehensive geometric characterization of the Subset Sum Problem is presented. We…
Co-part segmentation is an important problem in computer vision for its rich applications. We propose an unsupervised learning approach for co-part segmentation from images. For the training stage, we leverage motion information embedded in…
We study partial and budgeted versions of the well studied connected dominating set problem. In the partial connected dominating set problem, we are given an undirected graph G = (V,E) and an integer n', and the goal is to find a minimum…
We study the balanced $k$-way hypergraph partitioning problem, with a special focus on its practical applications to manycore scheduling. Given a hypergraph on $n$ nodes, our goal is to partition the node set into $k$ parts of size at most…
We investigate the intersection problem for finite semigroups, which asks for a given set of regular languages, represented by recognizing morphisms to finite semigroups, whether there exists a word contained in their intersection. We…
We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e.g., task $A$ and task $B$ must both be completed before task $C$ may begin).…
We revisit two NP-hard geometric partitioning problems - convex decomposition and surface approximation. Building on recent developments in geometric separators, we present quasi-polynomial time algorithms for these problems with improved…
Assigning jobs onto identical machines with the objective to minimize the maximal load is one of the most basic problems in combinatorial optimization. Motivated by product planing and data placement, we study a natural extension called…
For a connected graph G=(V,E), a subset U of V is called a disconnected cut if U disconnects the graph and the subgraph induced by U is disconnected as well. We show that the problem to test whether a graph has a disconnected cut is…
Semi-algebraic set is a subset of the real space defined by polynomial equations and inequalities. In this paper, we consider the problem of deciding whether two given points in a semi-algebraic set are connected. We restrict to the case…
We consider the following two deterministic inventory optimization problems over a finite planning horizon $T$ with non-stationary demands. (a) Submodular Joint Replenishment Problem: This involves multiple item types and a single retailer…