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Base placement optimization (BPO) is a fundamental capability for mobile manipulation and has been researched for decades. However, it is still very challenging for some reasons. First, compared with humans, current robots are extremely…

The Traveling Salesperson Problem (TSP), a quintessential NP-hard combinatorial optimisation challenge, is vital for logistics and network design but limited by exponential complexity in large instances. We propose a hybrid…

We study bilevel optimization with a fixed polyhedral lower feasible set. Such problems are challenging for two reasons: active-set changes can make the upper objective nonsmooth, and existing hypergradient methods typically require…

An increasingly popular method for solving a constrained combinatorial optimisation problem is to first convert it into a quadratic unconstrained binary optimisation (QUBO) problem, and solve it using a standard QUBO solver. However, this…

Relevant combinatorial optimization problems (COPs) are often NP-hard. While they have been tackled mainly via handcrafted heuristics in the past, advances in neural networks have motivated the development of general methods to learn…

This paper presents an integrated approach for efficient path planning and energy management in hybrid unmanned aerial vehicles (HUAVs) equipped with dual fuel-electric propulsion systems. These HUAVs operate in environments that include…

We study the application of emerging photonic and quantum computing architectures to solving the Traveling Salesman Problem (TSP), a well-known NP-hard optimization problem. We investigate several approaches: Simulated Annealing (SA),…

Due to its direct relevance to post-disaster operations, meter reading and civil refuse collection, the Uncertain Capacitated Arc Routing Problem (UCARP) is an important optimisation problem. Stochastic models are critical to study as they…

We introduce a new "subpixel-smoothed projection" (SSP) formulation for differentiable binarization in topology optimization (TopOpt) as a drop-in replacement for previous projection schemes, which suffer from near-non-differentiability and…

One challenge of legged locomotion on uneven terrains is to deal with both the discrete problem of selecting a contact surface for each footstep and the continuous problem of placing each footstep on the selected surface. Consequently,…

We present a hybrid numerical approach to simulate quantum many body problems on two spatial dimensional quantum lattice models via the non-Abelian ab initio version of the density matrix renormalization group method on state-of-the-art…

The end-to-end neural combinatorial optimization (NCO) method shows promising performance in solving complex combinatorial optimization problems without the need for expert design. However, existing methods struggle with large-scale…

Snake robots enable mobility through extreme terrains and confined environments in terrestrial and space applications. However, robust perception and localization for snake robots remain an open challenge due to the proximity of the sensor…

Based on smoothing techniques, we propose two new methods to solve linear complementarity problems (LCP) called TLCP and Soft-Max. The idea of these two new methods takes inspiration from interior-point methods in optimization. The…

We consider the optimization of pairwise objective functions, i.e., objective functions of the form $H(\mathbf{x}) = H(x_1,\ldots,x_N) = \sum_{1\leq i<j \leq N} H_{ij}(x_i,x_j)$ for $x_i$ in some continuous state spaces $\mathcal{X}_i$.…

The Traveling Salesman Problem (TSP) is a prototypical combinatorial optimization problem, but its quantum implementation is limited by the O(n^2)-qubit overhead of standard one-hot encodings. Here, we propose a resource-efficient…

We study a hybrid conditional gradient - smoothing algorithm (HCGS) for solving composite convex optimization problems which contain several terms over a bounded set. Examples of these include regularization problems with several norms as…

High-dimensional and complex discrete distributions often exhibit multimodal behavior due to inherent discontinuities, posing significant challenges for sampling. Gradient-based discrete samplers, while effective, frequently become trapped…

Hougardy and Schroeder (WG 2014) proposed a combinatorial technique for pruning the search space in the traveling salesman problem, establishing that, for a given instance, certain edges cannot be present in any optimal tour. We describe an…

This paper proposes a local search algorithm for a specific combinatorial optimisation problem in graph theory: the Hamiltonian Completion Problem (HCP) on undirected graphs. In this problem, the objective is to add as few edges as possible…