Related papers: Computing Feasible Trajectories for an Articulated…
Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to perturbation in task constraints often becomes intractable.…
Computer experiments are pivotal for modeling complex real-world systems. Maximizing information extraction and ensuring accurate surrogate modeling necessitates space-filling designs, where design points extensively cover the input domain.…
We initiate the study of a fundamental combinatorial problem: Given a capacitated graph $G=(V,E)$, find a shortest walk ("route") from a source $s\in V$ to a destination $t\in V$ that includes all vertices specified by a set…
Mathematical modeling is a standard approach to solve many real-world problems and {\em diversity} of solutions is an important issue, emerging in applying solutions obtained from mathematical models to real-world problems. Many studies…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
We propose an iterative method for nonlinear semidefinite programs with box constraints. The search direction in the proposed method utilizes the distance from the current point to the boundary of a feasible set. The computation of the…
Efficient trajectory optimization is essential for avoiding collisions in unstructured environments, but it remains challenging to have both speed and quality in the solutions. One reason is that second-order optimality requires calculating…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
This paper combines two ingredients in order to get a rather surprising result on one of the most studied, elegant and powerful tools for solving convex feasibility problems, the method of alternating projections (MAP). Going back to names…
The tractor-trailer robot consists of a drivable tractor and one or more non-drivable trailers connected via hitches. Compared to typical car-like robots, the addition of trailers provides greater transportation capability. However, this…
In critical applications, including search-and-rescue in degraded environments, blockages can be prevalent and prevent the effective deployment of certain sensing modalities, particularly vision, due to occlusion and the constrained range…
A beacon is a point-like object which can be enabled to exert a magnetic pull on other point-like objects in space. Those objects then move towards the beacon in a greedy fashion until they are either stuck at an obstacle or reach the…
We consider the problem of counting straight-edge triangulations of a given set $P$ of $n$ points in the plane. Until very recently it was not known whether the exact number of triangulations of $P$ can be computed asymptotically faster…
In problem-solving, a path towards solutions can be viewed as a sequence of decisions. The decisions, made by humans or computers, describe a trajectory through a high-dimensional representation space of the problem. By means of…
In this paper, we investigate optimization problems with nonnegative and orthogonal constraints, where any feasible matrix of size $n \times p$ exhibits a sparsity pattern such that each row accommodates at most one nonzero entry. Our…
Overtaking is one of the most challenging tasks in driving, and the current solutions to autonomous overtaking are limited to simple and static scenarios. In this paper, we present a method for behaviour and trajectory planning for safe…
We consider a framework for the construction of iterative schemes for operator equations that combine low-rank approximation in tensor formats and adaptive approximation in a basis. Under fairly general assumptions, we obtain a rigorous…
Cutting and packing problems are present in many, at first glance unconnected, areas, therefore it's beneficial to have a good understanding of their underlying structure, to select proper techniques for finding solutions. Cutting and…
Suppose we are given a pair of points $s, t$ and a set $S$ of $n$ geometric objects in the plane, called obstacles. We show that in polynomial time one can construct an auxiliary (multi-)graph $G$ with vertex set $S$ and every edge labeled…
In this work, we consider a class of convex optimization problems in a real Hilbert space that can be solved by performing a single projection, i.e., by projecting an infeasible point onto the feasible set. Our results improve those…