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We study robot construction problems where multiple autonomous robots rearrange stacks of prefabricated blocks to build stable structures. These problems are challenging due to ramifications of actions, true concurrency, and requirements of…
Recent advances in cutting-plane strategies applied to robust optimization problems show that they are competitive with respect to problem reformulations and interior-point algorithms. However, although its application with polyhedral…
Mixed-integer quadratic programming is the problem of optimizing a quadratic function over points in a polyhedral set where some of the components are restricted to be integral. In this paper, we prove that the decision version of…
This paper presents a novel application of multiparameter spectral theory to the study of structural stability, with particular emphasis on aeroelastic flutter. Methods of multiparameter analysis allow the development of new solution…
In this short note we give incremental algorithms for the following lattice problems: finding a basis of a lattice, computing the successive minima, and determining the orthogonal decomposition. We prove an upper bound for the number of…
It is desirable to enable robots capable of automatic assembly. Structural understanding of object parts plays a crucial role in this task yet remains relatively unexplored. In this paper, we focus on the setting of furniture assembly from…
Aerospace production volumes have increased over time and robotic solutions have been progressively introduced in the aeronautic assembly lines to achieve high-quality standards, high production rates, flexibility and cost reduction.…
The problem of path planning for automated parking is usually presented as finding a collision-free path from initial to goal positions, where three out of four parking slot edges represent obstacles. We rethink the path planning problem…
A popular approach in combinatorial optimization is to model problems as integer linear programs. Ideally, the relaxed linear program would have only integer solutions, which happens for instance when the constraint matrix is totally…
Register allocation (mapping variables to processor registers or memory) and instruction scheduling (reordering instructions to increase instruction-level parallelism) are essential tasks for generating efficient assembly code in a…
This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…
In this paper we propose a fast optimization algorithm for approximately minimizing convex quadratic functions over the intersection of affine and separable constraints (i.e., the Cartesian product of possibly nonconvex real sets). This…
Most commercially available fixed-wing aerial vehicles (FWV) can carry only small, lightweight computing hardware such as Jetson TX2 onboard. Solving non-linear trajectory optimization on these computing resources is computationally…
In modern digital circuit back-end design, designers heavily rely on electronic-design-automoation (EDA) tool to close timing. However, the heuristic algorithms used in the place and route tool usually does not result in optimal solution.…
Solution and analysis of mathematical programming problems may be simplified when these problems are symmetric under appropriate linear transformations. In particular, a knowledge of the symmetries may help reduce the problem dimension, cut…
Ordinal Embedding places n objects into R^d based on comparisons such as "a is closer to b than c." Current optimization-based approaches suffer from scalability problems and an abundance of low quality local optima. We instead consider a…
The coupled simulations of dynamic interactions between the well, hydraulic fractures and reservoir have significant importance in some areas of petroleum reservoir engineering. Several approaches to the problem of coupling between the…
The field of algorithmic optimization has significantly advanced with the development of methods for the automatic configuration of algorithmic parameters. This article delves into the Algorithm Configuration Problem, focused on optimizing…
A general method for accelerating fixed point schemes for problems related to partial differential equations is presented in this article. The speedup is obtained by training a reduced-order model on-the-fly, removing the need to do an…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…