Related papers: On Computing Makespan-Optimal Solutions for Genera…
TSP (Traveling Salesman Problem), a classic NP-complete problem in combinatorial optimization, is of great significance in multiple fields. Exact algorithms for TSP are not practical due to their exponential time cost. Thus, approximate…
One practical requirement in solving dynamic games is to ensure that the players play well from any decision point onward. To satisfy this requirement, existing efforts focus on equilibrium refinement, but the scalability and applicability…
The Team Orienteering Problem with Service Times and Mandatory & Incompatible Nodes (TOP-ST-MIN) is a variant of the classic Team Orienteering Problem (TOP), which includes three novel features that stem from two real-world problems…
GBPP is a fast learning based scorer that selects a robot base pose for grasping from a single RGB-D snapshot. The method uses a two stage curriculum: (1) a simple distance-visibility rule auto-labels a large dataset at low cost; and (2) a…
We consider both finite-state game graphs and recursive game graphs (or pushdown game graphs), that can model the control flow of sequential programs with recursion, with multi-dimensional mean-payoff objectives. In pushdown games two types…
As autonomous driving continues to advance, automated parking is becoming increasingly essential. However, significant challenges arise when implementing path velocity decomposition (PVD) trajectory planning for automated parking. The…
We present algorithmic results for the parallel assembly of many micro-scale objects in two and three dimensions from tiny particles, which has been proposed in the context of programmable matter and self-assembly for building high-yield…
In this paper we propose some novel path planning strategies for a double integrator with bounded velocity and bounded control inputs. First, we study the following version of the Traveling Salesperson Problem (TSP): given a set of points…
In this paper we show that the Mastermind Satisfiability Problem (MSP) is NP-complete. The Mastermind is a popular game which can be turned into a logical puzzle called Mastermind Satisfiability Problem in a similar spirit to the…
Environment perception is a crucial ability for robot's interaction into an environment. One of the first steps in this direction is the combined problem of simultaneous localization and mapping (SLAM). A new method, called G-SLAM, is…
We study the problem of scheduling $n$ independent moldable tasks on $m$ processors that arises in large-scale parallel computations. When tasks are monotonic, the best known result is a $(\frac{3}{2}+\epsilon)$-approximation algorithm for…
This paper presents a novel scheme, based on a unique combination of genetic algorithms (GAs) and deep learning (DL), for the automatic reconstruction of Portuguese tile panels, a challenging real-world variant of the jigsaw puzzle problem…
In this paper, we study multistage stochastic mixed-integer nonlinear programs (MS-MINLP). This general class of problems encompasses, as important special cases, multistage stochastic convex optimization with non-Lipschitzian value…
Mixed-integer programming (MIP) technology offers a generic way of formulating and solving combinatorial optimization problems. While generally reliable, state-of-the-art MIP solvers base many crucial decisions on hand-crafted heuristics,…
The Shortest-Path Problem in Graph of Convex Sets (SPP in GCS) is a recently developed optimization framework that blends discrete and continuous decision making. Many relevant problems in robotics, such as collision-free motion planning,…
Self-supervised pre-training based on next-token prediction has enabled large language models to capture the underlying structure of text, and has led to unprecedented performance on a large array of tasks when applied at scale. Similarly,…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
The Symmetric Primal-Dual Symplex Pivot Decision Strategy (spdspds) is a novel iterative algorithm to solve linear programming problems. A symplex pivoting operation is simply an exchange between a basic variable and a non-basic variable,…
How many ways are there to climb a staircase in a given number of steps? Infinitely many, if we focus on the continuous aspect of the problem. A finite, possibly large number if we consider the discrete aspect, \emph{i.e.} on which surface…
In molecular dynamics (MD) simulations, accessing transition probabilities between states is crucial for understanding kinetic information, such as reaction paths and rates. However, standard MD simulations are hindered by the capacity to…