Related papers: Customizable Contraction Hierarchies -- A Survey
We consider the problem of scaling up optimal and safe controllers for Connected and Automated Vehicles (CAVs) from a single Control Zone (CZ) around a traffic conflict area to an entire network. The goal is to jointly minimize travel time…
We study exact, efficient and practical algorithms for route planning in large road networks. Routing applications often require integrating the current traffic situation, planning ahead with traffic predictions for the future, respecting…
Efficient performance of a number of engineering systems is achieved through different modes of operation - yielding systems described as "hybrid", containing both real-valued and discrete decision variables. Prominent examples of such…
Constraint Handling Rules (CHR) is a committed-choice rule-based language that was originally intended for writing constraint solvers. In this paper we show that it is also possible to write the classic union-find algorithm and variants in…
Over the last year, the amount of research in hierarchical planning has increased, leading to significant improvements in the performance of planners. However, the research is diverging and planners are somewhat hard to compare against each…
Recent development of contraction theory based analysis of singularly perturbed system has opened the door for inspecting differential behavior of multi time-scale systems. In this paper a contraction theory based framework is proposed for…
We shift the QCSP (Quantified Constraint Satisfaction Problems) framework to the QCHR (Quantified Constraint Handling Rules) framework by enabling dynamic binder and access to user-defined constraints. QCSP offers a natural framework to…
This paper presents the design concept, modeling and motion planning solution for the aerial robotic chain. This design represents a configurable robotic system of systems, consisting of multi-linked micro aerial vehicles that…
Constraint Handling Rules (CHR) are a committed-choice declarative language which has been designed for writing constraint solvers. A CHR program consists of multi-headed guarded rules which allow one to rewrite constraints into simpler…
The requirement to repeatedly move large feature maps off- and on-chip during inference with convolutional neural networks (CNNs) imposes high costs in terms of both energy and time. In this work we explore an improved method for…
The remarkable performance of deep Convolutional neural networks (CNNs) is generally attributed to their deeper and wider architectures, which can come with significant computational costs. Pruning neural networks has thus gained interest…
We present new numerical results on the space of local, unitary, parity-preserving conformal field theories (CFTs) in three dimensions from the stress tensor bootstrap. In bounds maximizing certain OPE coefficients, we find a plethora of…
Traditional recommendation systems estimate user preference on items from past interaction history, thus suffering from the limitations of obtaining fine-grained and dynamic user preference. Conversational recommendation system (CRS) brings…
Contraction Hierarchies is a successful speedup-technique to Dijkstra's seminal shortest path algorithm that has a convenient trade-off between preprocessing and query times. We investigate a shared-memory parallel implementation that uses…
Deep Click-Through Rate (CTR) prediction models play an important role in modern industrial recommendation scenarios. However, high memory overhead and computational costs limit their deployment in resource-constrained environments.…
A standard design pattern found in many concurrent data structures, such as hash tables or ordered containers, is alternation of parallelizable sections that incur no data conflicts and critical sections that must run sequentially and are…
Automatic parameter tuning methods for planning algorithms, which integrate pipeline approaches with learning-based techniques, are regarded as promising due to their stability and capability to handle highly constrained environments. While…
In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired reference trajectory, with guarantees on the convergence or bounds…
Constraint Handling Rules is an effective concurrent declarative programming language and a versatile computational logic formalism. CHR programs consist of guarded reactive rules that transform multisets of constraints. One of the main…
In this paper, a novel real-time acceleration-continuous path-constrained trajectory planning algorithm is proposed with an appealing built-in tradability mechanism between cruise motion and time-optimal motion. Different from existing…