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This conference proceeding presents the first results of the full CMS Tracker alignment based on several million reconstructed tracks from the cosmic data taken during the commissioning runs with the detector in its final position and…
Given starting and ending positions and velocities, $L_2$ bounds on the acceleration and velocity, and the restriction to no more than two constant control inputs, this paper provides routines to compute the minimal-time path. Closed form…
In the {\em capacitated} survivable network design problem (Cap-SNDP), we are given an undirected multi-graph where each edge has a capacity and a cost. The goal is to find a minimum cost subset of edges that satisfies a given set of…
The configuration of most robotic systems lies in continuous transformation groups. However, in mobile robot trajectory tracking, many recent works still naively utilize optimization methods for elements in vector space without considering…
We examine a new optimization problem formulated in the tropical mathematics setting as a further extension of certain known problems. The problem is to minimize a nonlinear objective function, which is defined on vectors over an idempotent…
Let G=(V,E)(|V|=n and |E|=m) be an undirected graph with positive edge weights. Let P_{G}(s, t) be a shortest s-t path in G. Let l be the number of edges in P_{G}(s, t). The \emph{Edge Replacement Path} problem is to compute a shortest s-t…
Many problems in machine learning can be solved by rounding the solution of an appropriate linear program (LP). This paper shows that we can recover solutions of comparable quality by rounding an approximate LP solution instead of the ex-…
Our work departs from the original definition of the Pickup and Delivery Problem (PDP) and extends it by considering an interchange point (crossdock) where vehicles can exchange their goods with other vehicles in order to shorten their…
The Restricted Shortest Path (RSP) problem, also known as the Delay-Constrained Least-Cost (DCLC) problem, is an NP-hard bicriteria optimization problem on graphs with $n$ vertices and $m$ edges. In a graph where each edge is assigned a…
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…
Alternating minimization represents a widely applicable and empirically successful approach for finding low-rank matrices that best fit the given data. For example, for the problem of low-rank matrix completion, this method is believed to…
In this paper, we deal with the solutions of systems of PDEs with bilateral inter-connected obstacles of min-max and max-min types. These systems arise naturally in stochastic switching zero-sum game problems. We show that when the…
Model predictive control (MPC) is a popular strategy for urban traffic management that is able to incorporate physical and user defined constraints. However, the current MPC methods rely on finite horizon predictions that are unable to…
We present a nonlinear model predictive control (MPC) scheme for tracking of dynamic target signals. The scheme combines stabilization and dynamic trajectory planning in one layer, thus ensuring constraint satisfaction irrespective of…
For over a decade now we have been witnessing the success of {\em massive parallel computation} (MPC) frameworks, such as MapReduce, Hadoop, Dryad, or Spark. One of the reasons for their success is the fact that these frameworks are able to…
Trajectory optimization is the core of modern model-based robotic control and motion planning. Existing trajectory optimizers, based on sequential quadratic programming (SQP) or differential dynamic programming (DDP), are often limited by…
We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle…
We present a message-passing algorithm to solve the edge disjoint path problem (EDP) on graphs incorporating under a unique framework both traffic optimization and path length minimization. The min-sum equations for this problem present an…
We present fast algorithms for approximate shortest paths in the massively parallel computation (MPC) model. We provide randomized algorithms that take $poly(\log{\log{n}})$ rounds in the near-linear memory MPC model. Our results are for…
In 2011, Harrigan and Healy published a polynomial-time algorithm for one-sided crossing minimization for trees. We point out a counterexample to that algorithm, and show that one-sided crossing minimization is NP-hard for trees.