Related papers: PACE Solver Description: Exact Solution of the One…
In this paper we address two different related problems. We first study the problem of finding a simple shortest path in a $d$-dimensional real space subdivided in several polyhedra endowed with different $\ell_p$-norms. This problem is a…
The Partitioning Min-Max Weighted Matching (PMMWM) problem is an NP-hard problem that combines the problem of partitioning a group of vertices of a bipartite graph into disjoint subsets with limited size and the classical Min-Max Weighted…
To address the challenge of short-term object pose tracking in dynamic environments with monocular RGB input, we introduce a large-scale synthetic dataset OmniPose6D, crafted to mirror the diversity of real-world conditions. We additionally…
Trajectory planning and control have historically been separated into two modules in automated driving stacks. Trajectory planning focuses on higher-level tasks like avoiding obstacles and staying on the road surface, whereas the controller…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
The parameterized complexity of problems is often studied with respect to the size of their optimal solutions. However, for a maximization problem, the size of the optimal solution can be very large, rendering algorithms parameterized by it…
Given an orthogonal connected arrangement of line-segments, Minimum Corridor Guarding(MCG) problem asks for an optimal tree/closed walk such that, if a guard moves through the tree/closed walk, all the line-segments are visited by the…
In the area of graph drawing, the One-Sided Crossing Minimization Problem (OSCM) is defined on a bipartite graph with both vertex sets aligned parallel to each other and all edges being drawn as straight lines. The task is to find a…
We study the NP-hard Minimum Shared Edges (MSE) problem on graphs: decide whether it is possible to route $p$ paths from a start vertex to a target vertex in a given graph while using at most $k$ edges more than once. We show that MSE can…
Constrained multiobjective optimization has gained much interest in the past few years. However, constrained multiobjective optimization problems (CMOPs) are still unsatisfactorily understood. Consequently, the choice of adequate CMOPs for…
In the Mixed Chinese Postman Problem (MCPP), given an edge-weighted mixed graph $G$ ($G$ may have both edges and arcs), our aim is to find a minimum weight closed walk traversing each edge and arc at least once. The MCPP parameterized by…
In this study, we are concerned with autonomous driving missions when a static obstacle blocks a given reference trajectory. To provide a realistic control design, we employ a model predictive control (MPC) utilizing nonlinear state-space…
We address the NP-hard problem of finding a non-overlapping dense packing pattern for n Unequal Circle items in a two-dimensional Square Container (PUC-SC) such that the size of the container is minimized. Based on our previous work on an…
We prove PSPACE-completeness of all but one problem in a large space of pulling-block problems where the goal is for the agent to reach a target destination. The problems are parameterized by whether pulling is optional, the number of…
Our aim is to present a new model which encompasses pace optimization and motor control effort for a runner on a fixed distance. We see that for long races, the long term behaviour is well approximated by a turnpike problem. We provide…
Efficient path optimization for drones in search and rescue operations faces challenges, including limited visibility, time constraints, and complex information gathering in urban environments. We present a comprehensive approach to…
We develop an approach called bounded combinatorial reconfiguration for solving combinatorial reconfiguration problems based on Answer Set Programming (ASP). The general task is to study the solution spaces of source combinatorial problems…
Interdiction problems are leader-follower games in which the leader is allowed to delete a certain number of edges from the graph in order to maximally impede the follower, who is trying to solve an optimization problem on the impeded…
The quadratic shortest path problem is the problem of finding a path in a directed graph such that the sum of interaction costs over all pairs of arcs on the path is minimized. We derive several semidefinite programming relaxations for the…
This paper addresses autonomous racing by introducing a real-time nonlinear model predictive controller (NMPC) coupled with a moving horizon estimator (MHE). The racing problem is solved by an NMPC-based off-line trajectory planner that…