Related papers: Efficient algorithms to solve atom reconfiguration…
Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…
Partitioning and grouping of similar objects plays a fundamental role in image segmentation and in clustering problems. In such problems a typical goal is to group together similar objects, or pixels in the case of image processing. At the…
We study population protocols, a model of distributed computing appropriate for modeling well-mixed chemical reaction networks and other physical systems where agents exchange information in pairwise interactions, but have no control over…
We study the quadratic resource allocation problem and its variant with lower and upper constraints on nested sums of variables. This problem occurs in many applications, in particular battery scheduling within decentralized energy…
In the online bipartite matching with reassignments problem, an algorithm is initially given only one side of the vertex set of a bipartite graph; the vertices on the other side are revealed to the algorithm one by one, along with its…
Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…
Remanufacturing is pivotal in transitioning to more sustainable economies. While industry evidence highlights its vast market potential and economic and environmental benefits, remanufacturing remains underexplored in theoretical research.…
In this paper, we present an algorithm which lies in the domain of task allocation for a set of static autonomous radars with rotating antennas. It allows a set of radars to allocate in a fully decentralized way a set of active tracking…
Topology Optimization (TO) provides a systematic approach for obtaining structure design with optimum performance of interest. However, the process requires numerical evaluation of objective function and constraints at each iteration, which…
Macro placement is the problem of placing memory blocks on a chip canvas. It can be formulated as a combinatorial optimization problem over sequence pairs, a representation which describes the relative positions of macros. Solving this…
Solving task planning problems involving multiple objects and multiple robotic arms poses scalability challenges. Such problems involve not only coordinating multiple high-DoF arms, but also searching through possible sequences of actions…
This paper is an attempt to remedy the problem of slow convergence for first-order numerical algorithms by proposing an adaptive conditioning heuristic. First, we propose a parallelizable numerical algorithm that is capable of solving…
Assembling increasingly larger-scale defect-free optical tweezer-trapped atom arrays is essential for quantum computation and quantum simulations based on atoms. Here, we propose an AI-enabled, rapid, constant-time-overhead rearrangement…
We revisit the problem of permuting an array of length $n$ according to a given permutation in place, that is, using only a small number of bits of extra storage. Fich, Munro and Poblete [FOCS 1990, SICOMP 1995] obtained an elegant…
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…
Optimal transport methods have recently established state of the art accuracy and efficiency for holographic laser beam shaping. However, use of such methods is hindered by severe $\mathcal{O}(N^2)$ memory and $\mathcal{O}(N^2)$ time…
We consider the problem of sparse atomic optimization, where the notion of "sparsity" is generalized to meaning some linear combination of few atoms. The definition of atomic set is very broad; popular examples include the standard basis,…
Reactive trajectory optimization for robotics presents formidable challenges, demanding the rapid generation of purposeful robot motion in complex and swiftly changing dynamic environments. While much existing research predominantly…
The performance of distributed storage systems deployed on wide-area networks can be improved using weighted (majority) quorum systems instead of their regular variants due to the heterogeneous performance of the nodes. A significant…
We study novel robust zero-order algorithms with acceleration for the solution of real-time optimization problems. In particular, we propose a family of extremum seeking dynamics that can be universally modeled as singularly perturbed…