Related papers: Generating Large-Scale Trajectories Efficiently us…
In complex engineered systems, completing an objective is sometimes not enough. The system must be able to reach a set performance characteristic, such as an unmanned aerial vehicle flying from point A to point B, \textit{under 10 seconds}.…
Improvements in technology lead to increasing availability of large data sets which makes the need for data reduction and informative subsamples ever more important. In this paper we construct $ D $-optimal subsampling designs for…
We propose a dual decomposition and linear program relaxation of the NP -hard minimum cost multicut problem. Unlike other polyhedral relaxations of the multicut polytope, it is amenable to efficient optimization by message passing. Like…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
As mobile robots find increasing use in outdoor applications, designing energy-efficient robot navigation algorithms is gaining importance. There are two primary approaches to energy efficient navigation: Offline approaches rely on a…
Consider the following problem: given a graph with edge costs and a subset Q of vertices, find a minimum-cost subgraph in which there are two edge-disjoint paths connecting every pair of vertices in Q. The problem is a failure-resilient…
This letter presents a method to reduce the computational demands of including second-order dynamics sensitivity information into the Differential Dynamic Programming (DDP) trajectory optimization algorithm. An approach to DDP is developed…
This paper proposes an approach based on graph theory and combinatorial enumeration for sizing of movable energy resources (MERs) to improve the resilience of the electric power supply. The proposed approach determines the size and number…
We model a set of point-to-point transports on a network as a system of polydisperse interacting self-avoiding walks (SAWs) over a finite square lattice. The ends of each SAW may be located both at random, uniformly distributed, positions…
Real-time dispatch practices for operating the electric grid in an economic and reliable manner are evolving to accommodate higher levels of renewable energy generation. In particular, stochastic optimization is receiving increased…
Trajectory generation in dynamic environments presents a significant challenge for quadrotors, particularly due to the non-convexity in the spatial-temporal domain. Many existing methods either assume simplified static environments or…
Considering the worst-case scenario, junction tree algorithm remains the most general solution for exact MAP inference with polynomial run-time guarantees. Unfortunately, its main tractability assumption requires the treewidth of a…
The power consumption of enormous network devices in data centers has emerged as a big concern to data center operators. Despite many traffic-engineering-based solutions, very little attention has been paid on performance-guaranteed energy…
This technical report provides detailed theoretical analysis of the algorithm used in \textit{Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight}. An assumption is provided to ensure that settings for the…
This paper presents a modeling and optimization framework to compute the minimum-lap-time spatial trajectory and powertrain operation of racing cars in a computationally efficient fashion. Specifically, we first derive a quasi-steady-state…
This paper proposes multiple extensions to the popular bicriterion transit routing approach -- Trip-Based Transit Routing (TBTR). Specifically, building on the premise of the HypRAPTOR algorithm, we first extend TBTR to its partitioning…
A general procedure which defines a partial ordering of cyclic permutations induced by continuous maps is known for constructing immediate successors to a cycle. We expound on this procedure in terms of labelled digraphs and characteristic…
In this paper, we consider the problem of scheduling an application on a parallel computational platform. The application is a particular task graph, either a linear chain of tasks, or a set of independent tasks. The platform is made of…
The set of 2-dimensional packing problems builds an important class of optimization problems and Strip Packing together with 2-dimensional Bin Packing and 2-dimensional Knapsack is one of the most famous of these problems. Given a set of…
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…