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In this paper we aim to construct piecewise-linear (PWL) approximations for functions of multiple variables and to build compact mixed-integer linear programming (MILP) formulations to represent the resulting PWL function. On the one hand,…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
We consider the following shared-resource scheduling problem: Given a set of jobs $J$, for each $j\in J$ we must schedule a job-specific processing volume of $v_j>0$. A total resource of $1$ is available at any time. Jobs have a resource…
In this paper, we consider the problem of optimally allocating tasks, expressed as global Linear Temporal Logic (LTL) specifications, to teams of heterogeneous mobile robots. The robots are classified in different types that capture their…
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…
Autonomous mobile robots (e.g., warehouse logistics robots) often need to traverse complex, obstacle-rich, and changing environments to reach multiple fixed goals (e.g., warehouse shelves). Traditional motion planners need to calculate the…
Mixed Integer Linear Programs (MILPs) are essential tools for solving planning and scheduling problems across critical industries such as construction, manufacturing, and logistics. However, their widespread adoption is limited by long…
In this paper, we present a new linear programming (LP) formulation of the Traveling Salesman Problem (TSP). The proposed model has O(n^8) variables and O(n^7) constraints, where n is the number of cities. Our numerical experimentation…
The Oven Scheduling Problem (OSP) is a new parallel batch scheduling problem that arises in the area of electronic component manufacturing. Jobs need to be scheduled to one of several ovens and may be processed simultaneously in one batch…
Missions for autonomous systems often require agents to visit multiple targets in complex operating conditions. This work considers the problem of visiting a set of targets in minimum time by a team of non-communicating agents in a Markov…
The crew rostering problem (CRP) for pilots is a complex crew scheduling task assigning pairings, or sequences of flights starting and ending at the same airport, to pilots to create a monthly schedule. In this paper, we propose an…
We describe a hybrid procedure for solving the traveling salesman problem (TSP) to provable optimality. We first sparsify the instance, and then use a hybrid algorithm that combines a branch-and-cut TSP solver with a Hamiltonian cycle…
The travelling salesperson problem (TSP) is a classic resource allocation problem used to find an optimal order of doing a set of tasks while minimizing (or maximizing) an associated objective function. It is widely used in robotics for…
This paper proposes a dual divide-and-optimize algorithm (DualOpt) for solving the large-scale traveling salesman problem (TSP). DualOpt combines two complementary strategies to improve both solution quality and computational efficiency.…
The Team Orienteering Problem (TOP) is an attractive variant of the Vehicle Routing Problem (VRP). The aim is to select customers and at the same time organize the visits for a vehicle fleet so as to maximize the collected profits and…
Mixed observable Markov decision processes (MOMDPs) are a modeling framework for autonomous systems described by both fully and partially observable states. In this work, we study the problem of synthesizing a control policy for MOMDPs that…
With the rapid development of the logistics industry, the path planning of logistics vehicles has become increasingly complex, requiring consideration of multiple constraints such as time windows, task sequencing, and motion smoothness.…
Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…
In this paper, we introduce the Double Traveling Salesman Problem with Partial Last-In-First-Out Loading Constraints (DTSPPL). It is a pickup-and-delivery single-vehicle routing problem, where all pickup operations must be performed before…
The efficient allocation of human resources is a critical concern in software development and other industries. This paper introduces a rigorous mathematical methodology for task assignment, employing Mixed Integer Linear Programming (MILP)…