Related papers: Bidirectional Sampling Based Search Without Two Po…
We consider the problem of constructing a single spanning tree for the single-source buy-at-bulk network design problem for doubling-dimension graphs. We compute a spanning tree to route a set of demands (or data) along a graph to or from a…
Improving the efficiency of Neural Architecture Search (NAS) is a challenging but significant task that has received much attention. Previous works mainly adopted the Differentiable Architecture Search (DARTS) and improved its search…
Optimization tasks over relational data, such as clustering, often suffer from the prohibitive cost of join operations, which are necessary to access the full dataset. While geometric data structures like BBD trees yield fast approximation…
This paper addresses the fast replanning problem in dynamic environments with moving obstacles. Since for randomly moving obstacles the future states are unpredictable, the proposed method, called SMARRT, reacts to obstacle motions and…
A bi-level optimization framework (BiOPT) was proposed in [3] for convex composite optimization, which is a generalization of bi-level unconstrained minimization framework (BLUM) given in [20]. In this continuation paper, we introduce a…
Search-based planning with motion primitives is a powerful motion planning technique that can provide dynamic feasibility, optimality, and real-time computation times on size, weight, and power-constrained platforms in unstructured…
The tree-depth problem can be seen as finding an elimination tree of minimum height for a given input graph $G$. We introduce a bicriteria generalization in which additionally the width of the elimination tree needs to be bounded by some…
Current motion planning approaches rely on binary collision checking to evaluate the validity of a state and thereby dictate where the robot is allowed to move. This approach leaves little room for robots to engage in contact with an…
This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…
In this paper, we propose an effective search procedure that interleaves two steps: subproblem generation and subproblem solution. We mainly focus on the first part. It consists of a variable domain value ranking based on reduced costs.…
Traditional tree search algorithms supply a blueprint for modeling problem solving behaviour. A diverse spectrum of problems can be formulated in terms of tree search. Quantum computation, in particular Grover's algorithm, has aroused a…
Probabilistic sampling methods have become very popular to solve single-shot path planning problems. Rapidly-exploring Random Trees (RRTs) in particular have been shown to be efficient in solving high dimensional problems. Even though…
The increasing use of autonomous robot systems in hazardous environments underscores the need for efficient search and rescue operations. Despite significant advancements, existing literature on object search often falls short in overcoming…
We consider a multidimensional search problem that is motivated by questions in contextual decision-making, such as dynamic pricing and personalized medicine. Nature selects a state from a $d$-dimensional unit ball and then generates a…
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…
In this paper, a sampling-based trajectory planning algorithm for a laboratory-scale 3D gantry crane in an environment with static obstacles and subject to bounds on the velocity and acceleration of the gantry crane system is presented. The…
This paper deals with the Pollution-Routing Problem (PRP), a Vehicle Routing Problem (VRP) with environmental considerations, recently introduced in the literature by [Bektas and Laporte (2011), Transport. Res. B-Meth. 45 (8), 1232-1250].…
A common technique to speed up shortest path queries in graphs is to use a bidirectional search, i.e., performing a forward search from the start and a backward search from the destination until a common vertex on a shortest path is found.…
Autonomous motion planning is challenging in multi-obstacle environments due to nonconvex collision avoidance constraints. Directly applying numerical solvers to these nonconvex formulations fails to exploit the constraint structures,…
We consider the Restricted Inverse Optimal Value Problem (RIOVSP) on trees under weighted bottleneck Hamming distance, denoted as (RIOVSPT$_{BH}$). The problem aims to minimize the total cost under weighted bottle-neck Hamming distance such…