Related papers: Orbits, schemes and dynamic programming procedures…
Strong spin-orbit interactions make hole quantum dots central to the quest for electrical spin qubit manipulation enabling fast, low-power, scalable quantum computation. Yet it is important to establish to what extent spin-orbit coupling…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
We propose two novel numerical schemes for approximate implementation of the dynamic programming~(DP) operation concerned with finite-horizon, optimal control of discrete-time systems with input-affine dynamics. The proposed algorithms…
We present a novel numerical method to calculate periodic orbits for dynamical systems by an iterative process which is based directly on the action integral in classical mechanics. New solutions are obtained for the planar motion of three…
This paper presents a hierarchical planning algorithm for racing with multiple opponents. The two-stage approach consists of a high-level behavioral planning step and a low-level optimization step. By combining discrete and continuous…
We consider problems in which a mobile robot samples an unknown function defined over its operating space, so as to find a global optimum of this function. The path traveled by the robot matters, since it influences energy and time…
We present a novel algorithm for dynamic routing with dedicated path protection which, as the presented simulation results suggest, can be efficient and exact. We present the algorithm in the setting of optical networks, but it should be…
In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…
Multi-objective optimization models that encode ordered sequential constraints provide a solution to model various challenging problems including encoding preferences, modeling a curriculum, and enforcing measures of safety. A recently…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
A novel fast multi-impulse optimization method for long-duration perturbed orbit rendezvous is proposed. First, based on the analytically estimated impulses, the terminal rendezvous deviation with precise dynamics model can be predicted.…
Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
Let $f:T\longrightarrow T$ be a mapping and $\Omega$ be a subset of $T$ which intersects every (positive) orbit of $f$. Assume that there are given a second dynamical system $\lambda:Y\longrightarrow Y$ and a mapping…
Designing optimal trajectories for multi-flyby asteroid missions is scientifically critical but technically challenging due to nonlinear dynamics, intermediate constraints, and numerous local optima. This paper establishes a method that…
Given $n$ points in a circular region $C$ in the plane, we study the problems of moving the $n$ points to its boundary to form a regular $n$-gon such that the maximum (min-max) or the sum (min-sum) of the Euclidean distances traveled by the…
This paper is concerned with problems relevant to motion planning in robotics. Configuration spaces are of practical relevance in designing safe control schemes for robots moving on a track. The topological complexity of a configuration…
We address day-ahead transmission topology planning and congestion management as a sequential, multi-objective optimization problem and develop two complementary algorithms for it: an exact enumeration method and a tailored evolutionary…
The Frame-Stewart algorithm for the 4-peg variant of the Tower of Hanoi, introduced in 1941, partitions disks into intermediate towers before moving the remaining disks to their destination. Algorithms that partition the disks have not been…
Given a set $P$ of $n$ points and a set $S$ of $n$ segments in the plane, we consider the problem of computing for each segment of $S$ its closest point in $P$. The previously best algorithm solves the problem in $n^{4/3}2^{O(\log^*n)}$…