Related papers: Efficient Planning in Large-scale Systems Using Hi…
In this paper, we consider a planning problem for a large-scale system modelled as a hierarchical finite state machine (HFSM) and develop a control algorithm for computing optimal plans between any two states. The control algorithm consists…
In this paper, we consider a planning problem for a hierarchical finite state machine (HFSM) and develop an algorithm for efficiently computing optimal plans between any two states. The algorithm consists of an offline and an online step.…
Stochastic sequential decision making often requires hierarchical structure in the problem where each high-level action should be further planned with primitive states and actions. In addition, many real-world applications require a plan…
We describe and evaluate the algorithmic techniques that are used in the FF planning system. Like the HSP system, FF relies on forward state space search, using a heuristic that estimates goal distances by ignoring delete lists. Unlike…
Hierarchical Finite State Machines (HFSMs) are a standard software-modelling concept which extends the classical Finite State Machine (FSM) notion with the useful abstraction of hierarchical nesting. That is, an HFSM is an FSM whose states…
We present a number of novel algorithms, based on mathematical optimization formulations, in order to solve a homogeneous multiprocessor scheduling problem, while minimizing the total energy consumption. In particular, for a system with a…
This paper proposes a stable sparse rapidly-exploring random trees (SST) algorithm to solve the optimal motion planning problem for hybrid systems. At each iteration, the proposed algorithm, called HySST, selects a vertex with the lowest…
In this paper, we propose the first optimum process scheduling algorithm for an increasingly prevalent type of heterogeneous multicore (HEMC) system that combines high-performance big cores and energy-efficient small cores with the same…
This paper presents a hierarchical planning algorithm for racing with multiple opponents. The two-stage approach consists of a high-level behavioral planning step and a low-level optimization step. By combining discrete and continuous…
We propose a multistage method for making inference at all levels of a Bayesian hierarchical model (BHM) using natural data partitions to increase efficiency by allowing computations to take place in parallel form using software that is…
Parallel machine scheduling has been extensively studied in the past decades, with applications ranging from production planning to job processing in large computing clusters. In this work we study some of these fundamental optimization…
Sequential decision problems in applications such as manipulation in warehouses, multi-step meal preparation, and routing in autonomous vehicle networks often involve reasoning about uncertainty, planning over discrete modes as well as…
In this work we study the problem of scheduling tasks with dependencies in multiprocessor architectures where processors have different speeds. We present the preemptive algorithm "Save-Energy" that given a schedule of tasks it post…
We consider the problem of controlling a fully specified Markov decision process (MDP), also known as the planning problem, when the state space is very large and calculating the optimal policy is intractable. Instead, we pursue the more…
As programmers turn to software-defined hardware (SDH) to maintain a high level of productivity while programming hardware to run complex algorithms, heavy-lifting must be done by the compiler to automatically partition on-chip arrays. In…
In this paper we develop optimal algorithms in the binary-forking model for a variety of fundamental problems, including sorting, semisorting, list ranking, tree contraction, range minima, and ordered set union, intersection and difference.…
We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…
We propose throughput and cost optimal job scheduling algorithms in cloud computing platforms offering Infrastructure as a Service. We first consider online migration and propose job scheduling algorithms to minimize job migration and…
The goal of model-based diagnosis is to isolate causes of anomalous system behavior and recommend inexpensive repair actions in response. In general, precomputing optimal repair policies is intractable. To date, investigators addressing…
High-value payment systems (HVPSs) are typically liquidity-intensive as the payment requests are indivisible and settled on a gross basis. Finding the right order in which payments should be processed to maximize the liquidity efficiency of…