Related papers: Accelerating Signal-Temporal-Logic-Based Task and …
Discrete optimization belongs to the set of $\mathcal{NP}$-hard problems, spanning fields such as mixed-integer programming and combinatorial optimization. A current standard approach to solving convex discrete optimization problems is the…
Fast and efficient sampling-based motion planning (SMP) is an integral component of many robotic systems, such as autonomous cars. A popular technique to improve the efficiency of these planners is to restrict search space in the planning…
We consider the problem of designing a smooth trajectory that traverses a sequence of convex sets in minimum time, while satisfying given velocity and acceleration constraints. This problem is naturally formulated as a nonconvex program. To…
This paper presents an incremental replanning algorithm, dubbed LTL-D*, for temporal-logic-based task planning in a dynamically changing environment. Unexpected changes in the environment may lead to failures in satisfying a task…
Robot footstep planning strategies can be divided in two main approaches: discrete searches and continuous optimizations. While discrete searches have been broadly applied, continuous optimizations approaches have been restricted for…
State-of-the-art motion planners cannot scale to a large number of systems. Motion planning for multiple agents is an NP (non-deterministic polynomial-time) hard problem, so the computation time increases exponentially with each addition of…
Motion planning framed as optimisation in structured latent spaces has recently emerged as competitive with traditional methods in terms of planning success while significantly outperforming them in terms of computational speed. However,…
We present new models of optimization-based task and motion planning (TAMP) for robotic pick-and-place (P&P), which plan action sequences and motion trajectory with low computational costs. We improved an existing state-of-the-art TAMP…
In this paper, we investigate the use of the deep learning method for solving a well-known NP-hard single machine scheduling problem with the objective of minimizing the total tardiness. We propose a deep neural network that acts as a…
This study proposes a Task and Motion Planning (TAMP) method with symbolic decisions embedded in a bilevel optimization. This TAMP method exploits the discrete structure of sequential manipulation for long-horizon and versatile tasks in…
In this paper, we mathematically model the multi-hop Peer-to-Peer (P2P) ride-matching problem as a binary program. We formulate this problem as a many-to-many problem in which a rider can travel by transferring between multiple drivers, and…
High-level autonomy requires discrete and continuous reasoning to decide both what actions to take and how to execute them. Integrated Task and Motion Planning (TMP) algorithms solve these hybrid problems jointly to consider constraints…
This paper studies strategies to optimize the lane configuration of a transportation network for a given set of Origin-Destination demands using a planning macroscopic network flow model. The lane reversal problem is, in general, NP-hard…
We present a learning-enabled Task and Motion Planning (TAMP) algorithm for solving mobile manipulation problems in environments with many articulated and movable obstacles. Our idea is to bias the search procedure of a traditional TAMP…
In this paper, we investigate the Resource-Constrained Project Scheduling Problem (RCPSP) with time-of-use energy tariffs (TOU) and machine states, a variant of RCPSP for production scheduling where energy price is part of the criteria and…
We propose an ML-based model that automates and expedites the solution of MIPs by predicting the values of variables. Our approach is motivated by the observation that many problem instances share salient features and solution structures…
One challenge of legged locomotion on uneven terrains is to deal with both the discrete problem of selecting a contact surface for each footstep and the continuous problem of placing each footstep on the selected surface. Consequently,…
Stochastic programming can be applied to consider uncertainties in energy system optimization models for capacity expansion planning. However, these models become increasingly large and time-consuming to solve, even without considering…
The intelligent upgrading of metropolitan rail transit systems has made it feasible to implement demand-side management policies that integrate multiple operational strategies in practical operations. However, the tight interdependence…
Generating natural and physically feasible motions for legged robots has been a challenging problem due to its complex dynamics. In this work, we introduce a novel learning-based framework of autoregressive motion planner (ARMP) for…