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We consider the problem of sorting a densely cluttered pile of unknown objects using a robot. This yet unsolved problem is relevant in the robotic waste sorting business. By extending previous active learning approaches to grasping, we show…
There has recently been much progress on exact algorithms for the (un)weighted graph (bi)partitioning problem using branch-and-bound and related methods. In this note we present and improve an easily computable, purely combinatorial lower…
Spatial range joins have many applications, including geographic information systems, location-based social networking services, neuroscience, and visualization. However, joins incur not only expensive computational costs but also too large…
In this paper, we present a planner that plans a sequence of base positions for a mobile manipulator to efficiently and robustly collect objects stored in distinct trays. We achieve high efficiency by exploring the common areas where a…
We present a new algorithm for the problem of universal gathering mobile oblivious robots (that is, starting from any initial configuration that is not bivalent, using any number of robots, the robots reach in a finite number of steps the…
Change detection, or anomaly detection, from street-view images acquired by an autonomous robot at multiple different times, is a major problem in robotic mapping and autonomous driving. Formulation as an image comparison task, which…
The Next Release Problem consists in selecting a subset of requirements to develop in the next release of a software product. The selection should be done in a way that maximizes the satisfaction of the stakeholders while the development…
We consider the problem of cooperative manipulation by a mobile multi-manipulator system operating in obstacle-cluttered and highly constrained environments under spatio-temporal task specifications. The task requires transporting a grasped…
We present a numerical method to identify regions of phase space that are approximately retained in a mobile compact neighbourhood over a finite time duration. Our approach is based on spatio-temporal clustering of trajectory data. The main…
We consider the problem of reducing the memory required to run lazy first-order functional programs. Our approach is to analyze programs for liveness of heap-allocated data. The result of the analysis is used to preserve only live data---a…
Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…
This letter presents a novel multi-robot task allocation and path planning method that considers robots' maximum range constraints in large-sized workspaces, enabling robots to complete the assigned tasks within their range limits. Firstly,…
We propose an algorithmic framework, that employs active subspace techniques, for scalable global optimization of functions with low effective dimension (also referred to as low-rank functions). This proposal replaces the original…
This paper presents a new column-and-constraint generation method for two-stage robust mixed-integer programs with finite uncertainty sets. Our method combines and extends speed-up techniques used in previous column-and-constraint…
The bin packing problem is to find the minimum number of bins of size one to pack a list of items with sizes $a_1,..., a_n$ in $(0,1]$. Using uniform sampling, which selects a random element from the input list each time, we develop a…
We propose a randomized multiplicative weight update (MWU) algorithm for $\ell_{\infty}$ regression that runs in $\widetilde{O}\left(n^{2+1/22.5} \text{poly}(1/\epsilon)\right)$ time when $\omega = 2+o(1)$, improving upon the previous best…
We consider the problem of sorting $n$ items, given the outcomes of $m$ pre-existing comparisons. We present a simple and natural deterministic algorithm that runs in $O(m + \log T)$ time and does $O(\log T)$ comparisons, where $T$ is the…
GWR is a popular approach for investigating the spatial variation in relationships between response and predictor variables, and critically for investigating and understanding process spatial heterogeneity. The geographically weighted (GW)…
We consider an assortment optimization problem where a customer chooses a single item from a sequence of sets shown to her, while limited inventories constrain the items offered to customers over time. In the special case where all of the…
We present a number of breakthroughs for coordinated motion planning, in which the objective is to reconfigure a swarm of labeled convex objects by a combination of parallel, continuous, collision-free translations into a given target…