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This paper presents a new approach to obtaining nearly complete coverage paths (CP) with low overlapping on 3D general surfaces using mesh models. The CP is obtained by segmenting the mesh model into a given number of clusters using…
Deep neural networks have demonstrated state-of-the-art performance for feature-based image matching through the advent of new large and diverse datasets. However, there has been little work on evaluating the computational cost, model size,…
The Minimum Cost Multicut Problem (MP) is a popular way for obtaining a graph decomposition by optimizing binary edge labels over edge costs. While the formulation of a MP from independently estimated costs per edge is highly flexible and…
Presently, topology optimization requires multiple iterations to create an optimized structure for given conditions. Among the conditions for topology optimization,the design area is one of the most important for structural design. In this…
This paper presents an efficient algorithm, naming Centralized Searching and Decentralized Optimization (CSDO), to find feasible solution for large-scale Multi-Vehicle Trajectory Planning (MVTP) problem. Due to the intractable growth of…
Fleets of networked manufacturing machines of the same type, that are collocated or geographically distributed, are growing in popularity. An excellent example is the rise of 3D printing farms, which consist of multiple networked 3D…
We present a PDE-based approach for finding optimal paths for the Reeds-Shepp car. In our model we minimize a (data-driven) functional involving both curvature and length penalization, with several generalizations. Our approach encompasses…
Due to the vastly different energy consumption between up-slope and down-slope, a path with the shortest length on a complex off-road terrain environment (2.5D map) is not always the path with the least energy consumption. For any…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
Computing shortest paths for curvature-constrained Dubins vehicles on the unit sphere is fundamental to many engineering applications, including long-range flight planning, persistent surveillance patterns, and global routing problems where…
When manufacturing parts using material extrusion additive manufacturing and anisotropic polymers, the mechanical properties of a manufactured component are strongly dependent on the print trajectory orientation. We conduct non-planar…
This paper presents a 55-line code written in python for 2D and 3D topology optimization (TO) based on the open-source finite element computing software (FEniCS), equipped with various finite element tools and solvers. PETSc is used as the…
We describe a general probabilistic framework to address a variety of Frechet-distance optimization problems. Specifically, we are interested in finding minimal bottleneck-paths in $d$-dimensional Euclidean space between given start and…
Network design problems involve constructing edges in a transportation or supply chain network to minimize construction and daily operational costs. We study a stochastic version where operational costs are uncertain due to fluctuating…
Path planning is a crucial component for realizing the autonomy of mobile robots. However, due to limited computational resources on mobile robots, it remains challenging to deploy state-of-the-art methods and achieve real-time performance.…
The kernel truncation method (KTM) is a commonly-used algorithm to compute the convolution-type nonlocal potential $\Phi(x)=(U\ast \rho)(x), ~x \in {\mathbb R^d}$, where the convolution kernel $U(x)$ might be singular at the origin and/or…
High-performance classical simulator for quantum circuits, in particular the tensor network contraction algorithm, has become an important tool for the validation of noisy quantum computing. In order to address the memory limitations, the…
Multi-axis additive manufacturing enables high flexibility of material deposition along dynamically varied directions. The Cartesian motion platforms of these machines include three parallel axes and two rotational axes. Singularity on…
Canonical Polyadic (or CANDECOMP/PARAFAC, CP) decompositions (CPD) are widely applied to analyze high order tensors. Existing CPD methods use alternating least square (ALS) iterations and hence need to unfold tensors to each of the $N$…
We present an optimization-based framework for multicopter trajectory planning subject to geometrical configuration constraints and user-defined dynamic constraints. The basis of the framework is a novel trajectory representation built upon…