Related papers: Optimal Shelf Arrangement to Minimize Robot Retrie…

We consider a large family of problems in which an ordering (or, more precisely, a chain of subsets) of a finite set must be chosen to minimize some weighted sum of costs. This family includes variations of Min Sum Set Cover (MSSC), several…

In this work we investigate the problem of order batching and picker routing in storage areas. These are labour and capital intensive problems, often responsible for a substantial share of warehouse operating costs. In particular, we…

This thesis provides an in-depth structural analysis and efficient algorithmic solutions for tabletop object rearrangement with overhand grasps (TORO), a foundational task in advancing intelligent robotic manipulation. Rearranging multiple…

In this paper, we study the Orienteering Aisle-graphs Single-access Problem (OASP), a variant of the orienteering problem for a robot moving in a so-called single-access aisle-graph, i.e., a graph consisting of a set of rows that can be…

The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…

In warehouses, order picking is known to be the most labor-intensive and costly task in which the employees account for a large part of the warehouse performance. Hence, many approaches exist, that optimize the order picking process based…

The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…

When operating in unstructured environments such as warehouses, homes, and retail centers, robots are frequently required to interactively search for and retrieve specific objects from cluttered bins, shelves, or tables. Mechanical Search…

We consider robotic pick-and-place of partially visible, novel objects, where goal placements are non-trivial, e.g., tightly packed into a bin. One approach is (a) use object instance segmentation and shape completion to model the objects…

Let D be a database of N objects where each object has m fields. The objects are given in m sorted lists (where the ith list is sorted according to the ith field). Our goal is to find the top k objects according to a monotone aggregation…

Management of disk scheduling is a very important aspect of operating system. Performance of the disk scheduling completely depends on how efficient is the scheduling algorithm to allocate services to the request in a better manner. Many…

Robots that autonomously manipulate objects within warehouses have the potential to shorten the package delivery time and improve the efficiency of the e-commerce industry. In this paper, we present a robotic system that is capable of both…

In this paper we investigate the problem of order batching for picker routing. Our approach is applicable to warehouses (storage areas) arranged in the standard rectangular grid layout, so with parallel aisles and two or more cross-aisles.…

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…

This paper optimizes the configuration of large-scale data centers toward cost-effective, reliable and sustainable cloud supply chains. The problem involves placing incoming racks of servers within a data center to maximize demand coverage…

Mixed integer convex and nonlinear programs, MICP and MINLP, are expressive but require long solving times. Recent work that combines data-driven methods on solver heuristics has shown potential to overcome this issue allowing for…

The list-labeling problem captures the basic task of storing a dynamically changing set of up to $n$ elements in sorted order in an array of size $m = (1 + \Theta(1))n$. The goal is to support insertions and deletions while moving around…

Future Internet of things (IoT) networks will host applications that involve data collection and computation tasks on one or more servers. To this end, this paper proposes the first mixed integer linear program (MILP) to schedule and embed…

We give new approximation algorithms for the submodular joint replenishment problem and the inventory routing problem, using an iterative rounding approach. In both problems, we are given a set of $N$ items and a discrete time horizon of…

Object rearrangement is important for many applications but remains challenging, especially in confined spaces, such as shelves, where objects cannot be accessed from above and they block reachability to each other. Such constraints require…