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A flying trapeze act can be a challenging task for a robotics system since some act requires the performer to catch another trapeze or catcher at the end after being airborne. The objective of this paper is to design and validate a motion…
This paper tackles the task assignment and trajectory generation problem for bird diverter installation using a fleet of multi-rotors. The proposed motion planner considers payload capacity, recharging constraints, and utilizes Signal…
This paper presents a novel high-level task planning and optimal coordination framework for autonomous masonry construction, using a team of heterogeneous aerial robotic workers, consisting of agents with separate skills for brick placement…
We consider optimization problems involving the multiplication of variable matrices to be selected from a given family, which might be a discrete set, a continuous set or a combination of both. Such nonlinear, and possibly discrete,…
The Bin Packing Problem is one of the most important optimization problems. In recent years, due to its NP-hard nature, several approximation algorithms have been presented. It is proved that the best algorithm for the Bin Packing Problem…
The poor performance of transformers on arithmetic tasks seems to stem in large part from their inability to keep track of the exact position of each digit inside of a large span of digits. We mend this problem by adding an embedding to…
In order to improve the communication of the UAV network when the UAV formation in a complex military mission environment. This paper proposed formation reconfiguration strategy under complexities mission environment. We take the problem of…
The increasing computational demands of foundation models have spurred research into low-precision training, with 4-bit floating-point (\texttt{FP4}) formats emerging as a frontier for maximizing hardware throughput. While numerous…
Balancing assembly lines, a family of optimization problems commonly known as Assembly Line Balancing Problem, is notoriously NP-Hard. They comprise a set of problems of enormous practical interest to manufacturing industry due to the…
In recent years, the embedding approach for solving switched optimal control problems has been developed in a series of papers. However, the embedding approach, which advantageously converts the hybrid optimal control problem to a classical…
Fixed-point iteration algorithms like RTA (response time analysis) and QPA (quick processor-demand analysis) are arguably the most popular ways of solving schedulability problems for preemptive uniprocessor FP (fixed-priority) and EDF…
The capability of discretization of matrix elements in the problem of quadratic functional minimization with linear member built on matrix in N-dimensional configuration space with discrete coordinates is researched. It is shown, that…
With the rapid development of airlines, airports today become much busier and more complicated than previous days. During airlines daily operations, assigning the available gates to the arriving aircrafts based on the fixed schedule is a…
There is a set of rectangular macros with given dimensions, and there are wires connecting some pairs (or sets) of them. We have a placement area where these macros should be placed without overlaps in order to minimize the total length of…
First-order optimization methods have attracted a lot of attention due to their practical success in many applications, including in machine learning. Obtaining convergence guarantees and worst-case performance certificates for first-order…
Lattice rules and polynomial lattice rules are quadrature rules for approximating integrals over the $s$-dimensional unit cube. Since no explicit constructions of such quadrature methods are known for dimensions $s > 2$, one usually has to…
Finite element methods usually construct basis functions and quadrature rules for multidimensional domains via tensor products of one-dimensional counterparts. While straightforward, this approach results in integration spaces larger than…
Quadrotors are among the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search…
Catching high-speed targets in the flight is a complex and typical highly dynamic task. In this paper, we propose Catch Planner, a planning-with-decision scheme for catching. For sequential decision making, we propose a policy search method…
This paper addresses a fuel-constrained, autonomous vehicle path planning problem in the presence of multiple refueling stations. We are given a set of targets, a set of refueling stations, and a depot where $m$ vehicles are stationed. The…