Related papers: A Control Barrier Function Approach to Constrained…
The maximum covering location problem (MCLP) is a key problem in facility location, with many applications and variants. One such variant is the dynamic (or multi-period) MCLP, which considers the installation of facilities across multiple…
The safety of training task policies and their subsequent application using reinforcement learning (RL) methods has become a focal point in the field of safe RL. A central challenge in this area remains the establishment of theoretical…
This paper proposes a fully decentralized model predictive control (MPC) framework with control barrier function (CBF) constraints for safety-critical trajectory planning in multi-robot legged systems. The incorporation of CBF constraints…
This paper presents a method to stabilize state and input constrained nonlinear systems using an offline optimization on variable triangulations of the set of admissible states. For control-affine systems, by choosing a continuous piecewise…
Control Lyapunov functions (CLFs) and control barrier functions (CBFs) have been used to develop provably safe controllers by means of quadratic programs (QPs), guaranteeing safety in the form of trajectory invariance with respect to a…
This paper considers distributed resource allocation problems (DRAPs) with a coupled constraint for real-time systems. Based on primal-dual methods, we adopt a control perspective for optimization algorithm design by synthesizing a safe…
We attack the 4-level facility location problem (4L-FLP), a critical component in supply chains. Foundational tasks here involve selecting markets, plants, warehouses, and distribution centers to maximize profits while considering related…
This paper proposes a new formulation for the dynamic resource allocation problem, which converts the traditional MDP model with known parameters and no capacity constraints to a new model with uncertain parameters and a resource capacity…
This paper considers solving the unequal area Dynamic Facility Layout Problem (DFLP) using a zone-based structure. Zone-based layouts have significant advantages, such as being easily transferable to a detailed layout with innately included…
The paper investigates stochastic resource allocation problems with scarce, reusable resources and non-preemtive, time-dependent, interconnected tasks. This approach is a natural generalization of several standard resource management…
Optimal control for safety-critical systems is often dependent on the conservativeness of constraints. Control Barrier Functions (CBFs) serve as a medium to represent such constraints, but constructing a minimally conservative CBF is a…
Federated Learning (FL) is an intriguing distributed machine learning approach due to its privacy-preserving characteristics. To balance the trade-off between energy and execution latency, and thus accommodate different demands and…
We consider the Fault-Tolerant Facility Placement problem ($FTFP$), which is a generalization of the classical Uncapacitated Facility Location problem ($UFL$). In the $FTFP$ problem we have a set of clients $C$ and a set of facilities $F$.…
In this paper we present efficient algorithmic solutions for several constrained resource allocation, management and discovery problems. We consider new types of resource allocation models and constraints, and we present new geometric…
This paper studies the problem of constructing control Lyapunov functions (CLFs) and feedback stabilization strategies for deterministic nonlinear control systems described by ordinary differential equations. Many numerical methods for…
We study the capacitated $k$-facility location problem, in which we are given a set of clients with demands, a set of facilities with capacities and a constant number $k$. It costs $f_i$ to open facility $i$, and $c_{ij}$ for facility $i$…
With the advent of Network Function Virtualization (NFV), network services that traditionally run on proprietary dedicated hardware can now be realized using Virtual Network Functions (VNFs) that are hosted on general-purpose commodity…
This paper extends control barrier functions (CBFs) to high order control barrier functions (HOCBFs) that can be used for high relative degree constraints. The proposed HOCBFs are more general than recently proposed (exponential) HOCBFs. We…
In this work, we establish different control design approaches for discrete-time systems, which build upon the notion of finite-step control Lyapunov functions (fs-CLFs). The design approaches are formulated as optimization problems and…
Functional constraints and bi-functional constraints are an important constraint class in Constraint Programming (CP) systems, in particular for Constraint Logic Programming (CLP) systems. CP systems with finite domain constraints usually…