Related papers: The Asteroid Routing Problem: A Benchmark for Expe…
Packing optimization is a prevalent problem that necessitates robust and efficient algorithms that are also simple to implement. One group of approaches is the raster methods, which rely on approximating the objects with pixelated…
Black-box policy optimization is a class of reinforcement learning algorithms that explores and updates the policies at the parameter level. This class of algorithms is widely applied in robotics with movement primitives or…
We present numerical simulations of orbiting black holes for around twelve cycles, using a high-order multipatch approach. Unlike some other approaches, the computational speed scales almost perfectly for thousands of processors. Multipatch…
In this study, a single autonomous underwater vehicle (AUV) aims to rendezvous with a submerged leader recovery vehicle through a cluttered and variable operating field. The rendezvous problem is transformed into a nonlinear optimal control…
This paper considers a trajectory planning problem for a robot navigating complex terrains, which arises in applications ranging from autonomous mining vehicles to planetary rovers. The problem seeks to find a low-cost dynamically feasible…
This paper presents a scalable online algorithm to generate safe and kinematically feasible trajectories for quadrotor swarms. Existing approaches rely on linearizing Euclidean distance-based collision constraints and on axis-wise…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
This paper presents and experiments approaches to solve a new bi-objective routing problem called the ring star problem. It consists of locating a simple cycle through a subset of nodes of a graph while optimizing two kinds of cost. The…
In this paper we study the Airspace Sectorization Problem (ASP) where the goal is to find an optimal partition (sectorization) of the airspace into a certain number of sectors, each managed by an air traffic controller. The objective of the…
The Bin Packing Problem (BPP) stands out as a paradigmatic combinatorial optimization problem in logistics. Quantum and hybrid quantum-classical algorithms are expected to show an advantage over their classical counterparts in obtaining…
In this work, we provide faster algorithms for approximating the optimal transport distance, e.g. earth mover's distance, between two discrete probability distributions $\mu, \nu \in \Delta^n$. Given a cost function $C : [n] \times [n] \to…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
This paper studies the equitable and optimal transport (EOT) problem, which has many applications such as fair division problems and optimal transport with multiple agents etc. In the discrete distributions case, the EOT problem can be…
In recent years, with the rapidly aging population, alleviating the pressure on medical staff has become a critical issue. To improve the work efficiency of medical staff and reduce the risk of infection, we consider the multi-trip…
This work presents Adaptive Robot Coordination (ARC), a novel hybrid framework for multi-robot motion planning (MRMP) that employs local subproblems to resolve inter-robot conflicts. ARC creates subproblems centered around conflicts, and…
Potentially impacting asteroids were analysed for their impact risk on the Earth. To this end, the Asteroid Risk Mitigation Optimization and Research (ARMOR) tool is currently being developed. The tool's modules are described and their…
This paper addresses a new variant of the multi-trip single vehicle routing problem where the nodes are related to each other through AND-type precedence constraints. The problem aims at determining a sequence of trips to visit all the…
We study the problem of optimal multi-robot path planning on graphs (MPP) over four distinct minimization objectives: the total arrival time, the makespan (last arrival time), the total distance, and the maximum (single-robot traveled)…
One of the fundamental problems in spacecraft trajectory design is finding the optimal transfer trajectory that minimizes the propellant consumption and transfer time simultaneously. We formulate this as a multi-objective optimal control…
The vehicle routing problem (VRP) is an NP-hard optimization problem that has been an interest of research for decades in science and industry. The objective is to plan routes of vehicles to deliver goods to a fixed number of customers with…