Related papers: A Long-Short-Term Mixed-Integer Formulation for Hi…

In this paper, we present an optimization based method for path planning of a mobile robot subject to time bounded temporal constraints, in a dynamic environment. Temporal logic (TL) can address very complex task specification such as…

Dealing with planning problems with both logical relations and numeric changes in real-world dynamic environments is challenging. Existing numeric planning systems for the problem often discretize numeric variables or impose convex…

Autonomous driving systems require the ability to fully understand and predict the surrounding environment to make informed decisions in complex scenarios. Recent advancements in learning-based systems have highlighted the importance of…

Motion planning framed as optimisation in structured latent spaces has recently emerged as competitive with traditional methods in terms of planning success while significantly outperforming them in terms of computational speed. However,…

Ensuring safety in autonomous vehicles necessitates advanced path planning and obstacle avoidance capabilities, particularly in dynamic environments. This paper introduces a bi-level control framework that efficiently augments road…

In this work we consider the multi-agent motion planning (MAMP) problem with the constraint that agents arrive at their respective goals at the same time. For the special case where all agents are initially at rest we propose a two-step…

Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…

This paper presents a hybrid robot motion planner that generates long-horizon motion plans for robot navigation in environments with obstacles. We propose a hybrid planner, RRT* with segmented trajectory optimization (RRT*-sOpt), which…

This paper addresses the problem of finding multiple near-optimal, spatially-dissimilar paths that can be considered as alternatives in the decision making process, for finding optimal corridors in which to construct a new road. We further…

Mixed-integer model predictive control (MI-MPC) requires the solution of a mixed-integer quadratic program (MIQP) at each sampling instant under strict timing constraints, where part of the state and control variables can only assume a…

This paper introduces a novel control strategy to optimize urban network traffic in mixed autonomy settings, featuring Connected and Automated Vehicles (CAVs) alongside Human-Driven Vehicles (HDVs). Unlike previous control strategies, where…

We propose a novel, multi-layered planning approach for computing paths that satisfy both kinodynamic and spatiotemporal constraints. Our three-part framework first establishes potential sequences to meet spatial constraints, using them to…

Many problems of interest for cyber-physical network systems can be formulated as Mixed-Integer Linear Programs in which the constraints are distributed among the agents. In this paper we propose a distributed algorithmic framework to solve…

We present a new mixed integer formulation for the discrete informative path planning problem in random fields. The objective is to compute a budget constrained path while collecting measurements whose linear estimate results in minimum…

This paper describes a data-driven framework for approximate global optimization in which precomputed solutions to a sample of problems are retrieved and adapted during online use to solve novel problems. This approach has promise for…

We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…

Multi-vehicle coordinated motion planning has always been challenged to safely and efficiently resolve conflicts under non-holonomic dynamic constraints. Constructing spatial-temporal corridors for multi-vehicle can decouple the…

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…

We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…

This paper presents a novel approach to the joint optimization of job scheduling and data allocation in grid computing environments. We formulate this joint optimization problem as a mixed integer quadratically constrained program. To…