Related papers: Mixed-Integer Linear Programming Models for Multi-…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
This paper addresses the single-item single-stocking location stochastic lot sizing problem under the $(s, S) $ policy. We first present a mixed integer non-linear programming (MINLP) formulation for determining near-optimal $(s, S)$ policy…
In this paper, we address the problem of time-optimal coordination of mobile robots under kinodynamic constraints along specified paths. We propose a novel approach based on time discretization that leads to a mixed-integer linear…
We present several modifications to the previously proposed MSPP algorithm that can speed-up its execution considerably. The MSPP algorithm leverages a multiscale representation of the environment in $n$ dimensions. The information of the…
We propose a supervised learning framework for computing solutions of multi-parametric Mixed Integer Linear Programs (MILPs) that arise in Model Predictive Control. Our approach also quantifies sub-optimality for the computed solutions.…
Multirobot systems for covering environments are increasingly used in applications like cleaning, industrial inspection, patrolling, and precision agriculture. The problem of covering a given environment using multiple robots can be…
The goal of survey design is often to minimize the errors associated with inference: the total of bias and variance. Random surveys are common because they allow the use of theoretically unbiased estimators. In practice however, such…
Covering problems are well-studied in the domain of Operations Research, and, more specifically, in Location Science. When the location space is a network, the most frequent assumption is to consider the candidate facility locations, the…
In this work, we systematically examine the application of spatio-temporal splitting heuristics to the Multi-Robot Motion Planning (MRMP) problem in a graph-theoretic setting: a problem known to be NP-hard to optimally solve. Following the…
Multiple mobile robots play a significant role in various spatially distributed tasks.In unfamiliar and non-repetitive scenarios, reconstructing the global map is time-inefficient and sometimes unrealistic. Hence, research has focused on…
This paper presents a Genetic Programming (GP) approach to solving multi-robot path planning (MRPP) problems in single-lane workspaces, specifically those easily mapped to graph representations. GP's versatility enables this approach to…
Agricultural environments present high proportions of spatially dense navigation bottlenecks for long-term navigation and operational planning of agricultural mobile robots. The existing agent-centric multi-robot path planning (MRPP)…
This paper is a follow-up to a previous work where we defined and generated the set of all possible compromises of multilevel multiobjective linear programming problems (ML-MOLPP). In this paper, we introduce a new algorithm to solve…
Many real-world problems can be efficiently modeled as Mixed Integer Linear Programs (MILPs) and solved with the Branch-and-Bound method. Prior work has shown the existence of MILP backdoors, small sets of variables such that prioritizing…
We develop a real-time feasible mixed-integer programming-based decision making (MIP-DM) system for automated driving. Using a linear vehicle model in a road-aligned coordinate frame, the lane change constraints, collision avoidance and…
Mixed Integer Linear Programming (MILP) is a fundamental tool for modeling combinatorial optimization problems. Recently, a growing body of research has used machine learning to accelerate MILP solving. Despite the increasing popularity of…
This study introduces a mixed-integer linear programming (MILP) model, effectively co-optimizing patrolling, damage assessment, fault isolation, repair, and load re-energization processes. The model is designed to solve a vital operational…
Packing and vehicle routing problems play an important role in the area of supply chain management. In this paper, we introduce a non-linear knapsack problem that occurs when packing items along a fixed route and taking into account travel…
Many problems of interest for cyber-physical network systems can be formulated as Mixed Integer Linear Programs in which the constraints are distributed among the agents. In this paper we propose a distributed algorithm to solve this class…
We study the problem of selecting a fleet of robots to service spatially distributed tasks with diverse requirements within time-windows. The problem of allocating tasks to a fleet of potentially heterogeneous robots and finding an optimal…