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This paper introduces a local planner that synergizes the decision making and trajectory planning modules towards autonomous driving. The decision making and trajectory planning tasks are jointly formulated as a nonlinear programming…
We consider a risk-averse stochastic capacity planning problem under uncertain demand in each period. Using a scenario tree representation of the uncertainty, we formulate a multistage stochastic integer program to adjust the capacity…
We present a coordination method for multiple mobile manipulators to sort objects in clutter. We consider the object rearrangement problem in which the objects must be sorted into different groups in a particular order. In clutter, the…
Placing applications in mobile edge computing servers presents a complex challenge involving many servers, users, and their requests. Existing algorithms take a long time to solve high-dimensional problems with significant uncertainty…
In this paper, we present a novel approach for fleet sizing in the context of flash delivery, a time-sensitive delivery service that requires the fulfilment of customer requests in minutes. Our approach effectively combines individual…
Two-echelon distribution systems are attractive from an economical standpoint and help to keep large vehicles out of city centers. Large trucks can be used to deliver goods to intermediate facilities in accessible locations, whereas smaller…
The cross dock door design problem consists of deciding on the number and capacity of inbound and outbound doors for receiving product pallets from origin nodes and exiting them to destination nodes. The uncertainty, realized in scenarios,…
For massive large-scale tasks, a multi-robot system (MRS) can effectively improve efficiency by utilizing each robot's different capabilities, mobility, and functionality. In this paper, we focus on the multi-robot coverage path planning…
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)…
We consider a multi-stage stochastic lot-sizing problem with service level constraints and supplier-driven product substitution. A firm has multiple products and it has the option to meet demand from substitutable products at a cost.…
In many robotics applications, multiple robots are working in a shared workspace to complete a set of tasks as fast as possible. Such settings can be treated as multi-modal multi-robot multi-goal path planning problems, where each robot has…
Despite the significant advances in vehicle automation and electrification, the next-decade aspirations for massive deployments of autonomous electric mobility on demand (AEMoD) services are still threatened by two major bottlenecks, namely…
We study a class of two-stage stochastic programs in which the second stage includes a set of components with uncertain capacity, and the expression for the distribution function of the uncertain capacity includes first-stage variables.…
In this paper, we examine the problem of rearranging many objects on a tabletop in a cluttered setting using overhand grasps. Efficient solutions for the problem, which capture a common task that we solve on a daily basis, are essential in…
The development of robotic systems for palletization in logistics scenarios is of paramount importance, addressing critical efficiency and precision demands in supply chain management. This paper investigates the application of…
This paper offers a methodological contribution at the intersection of machine learning and operations research. Namely, we propose a methodology to quickly predict tactical solutions to a given operational problem. In this context, the…
Strategic product placement can have a strong influence on customer purchase behavior in physical stores as well as online platforms. Motivated by this, we consider the problem of optimizing the placement of substitutable products in…
At modern warehouses, mobile robots transport packages and drop them into collection bins/chutes based on shipping destinations grouped by, e.g., the ZIP code. System throughput, measured as the number of packages sorted per unit of time,…
The Flexible Job-shop Scheduling Problem (FJSP) is an important combinatorial optimization problem that arises in manufacturing and service settings. FJSP is composed of two subproblems, an assignment problem that assigns tasks to machines,…
We propose stochastic optimization methodologies for a staffing and capacity planning problem arising from home care practice. Specifically, we consider the perspective of a home care agency that must decide the number of caregivers to hire…