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Addressing irregular cutting and packing (C&P) optimization problems poses two distinct challenges: the geometric challenge of determining whether or not an item can be placed feasibly at a certain position, and the optimization challenge…
In this paper, we propose a new method called Clustering Topological PRM (CTopPRM) for finding multiple homotopically distinct paths in 3D cluttered environments. Finding such distinct paths, e.g., going around an obstacle from a different…
We introduce StoDCuP (Stochastic Dynamic Cutting Plane), an extension of the Stochastic Dual Dynamic Programming (SDDP) algorithm to solve multistage stochastic convex optimization problems. At each iteration, the algorithm builds lower…
We present a new algorithm for 3D cone-beam tomography. The algorithm is based on decomposition of the cone-beam backprojection operation and angular decimation. It has computational complexity of $O(N^{3.5})$ and allows considerable…
Path planning has long been one of the major research areas in robotics, with PRM and RRT being two of the most effective classes of planners. Though generally very efficient, these sampling-based planners can become computationally…
Benders' decomposition (BD) is a framework for solving optimization problems by removing some variables and modeling their contribution to the original problem via so-called Benders cuts. While many advanced optimization techniques can be…
This paper presents a highly efficient method to obtain high-resolution, near-optimal 3D topologies optimized for minimum compliance on a standard PC. Using an implicit geometry description we derive a single-scale interpretation of optimal…
As minimum feature size and pitch spacing further decrease, triple patterning lithography (TPL) is a possible 193nm extension along the paradigm of double patterning lithography (DPL). However, there is very little study on TPL layout…
Shallow cuttings are a fundamental tool in computational geometry and spatial databases for solving offline and online range searching problems. For a set $P$ of $N$ points in 3-D, at SODA'14, Afshani and Tsakalidis designed an optimal…
Fabric folding through robots is complex and challenging due to the deformability of fabric. Based on deconstruction strategy, we split the complex fabric folding task into three relatively simple sub-tasks, and propose a Deconstructed…
Semidefinite Programming (SDP) provides tight lower bounds for Optimal Power Flow problems. However, solving large-scale SDP problems requires exploiting sparsity. In this paper, we experiment several clique decomposition algorithms that…
Shape-from-Template (SfT) methods estimate 3D surface deformations from a single monocular RGB camera while assuming a 3D state known in advance (a template). This is an important yet challenging problem due to the under-constrained nature…
Optimizing deformation energies over a mesh, in two or three dimensions, is a common and critical problem in physical simulation and geometry processing. We present three new improvements to the state of the art: a barrier-aware line-search…
We propose a novel, multi-layered planning approach for computing paths that satisfy both kinodynamic and spatiotemporal constraints. Our three-part framework first establishes potential sequences to meet spatial constraints, using them to…
Structural dimensional inspection is vital for the process monitoring, quality control, and fault diagnosis in the mass production of auto bodies. Comparing with the non-contact measurement, the high-precision five-axis measuring machine…
In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…
Construction of a scaffold structure that supports a desired motif, conferring protein function, shows promise for the design of vaccines and enzymes. But a general solution to this motif-scaffolding problem remains open. Current…
Navigating the vast chemical space of druggable compounds is a formidable challenge in drug discovery, where generative models are increasingly employed to identify viable candidates. Conditional 3D structure-based drug design (3D-SBDD)…
Generation and Transmission Expansion Planning (GTEP) problems co-optimize generation and transmission expansion, enabling them to provide better planning decisions than traditional Generation Expansion Planning or Transmission Expansion…
We aim to derive effective lower bounds for the Discrete Cost Multicommodity Network Design Problem (DCMNDP). Given an undirected graph, the problem requires installing at most one facility on each edge such that a set of point-to-point…