Related papers: Length-Matching Routing for Programmable Photonic …
Problem of finding 2D paths of special shape, e.g. paths comprised of line segments having the property that the angle between any two consecutive segments does not exceed the predefined threshold, is considered in the paper. This problem…
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…
To efficiently deploy robotic systems in society, mobile robots must move autonomously and safely through complex environments. Nonlinear model predictive control (MPC) methods provide a natural way to find a dynamically feasible trajectory…
Multi-mode optical interferometers represent the most viable platforms for the successful implementation of several quantum information schemes that take advantage of optical processing. Examples range from quantum communication, sensing…
Graph-based multi-robot path planning (MRPP) is NP-hard to optimally solve. In this work, we propose the first low polynomial-time algorithm for MRPP achieving 1--1.5 asymptotic optimality guarantees on makespan for random instances under…
Reconstructing a signal from squared linear (rank-one quadratic) measurements is a challenging problem with important applications in optics and imaging, where it is known as phase retrieval. This paper proposes two new phase retrieval…
We propose a method to match anatomical locations between pairs of medical images in longitudinal comparisons. The matching is made possible by computing a descriptor of the query point in a source image based on a hierarchical sparse…
Photonic integrated circuits (PICs) play a pivotal role in many applications. Particularly powerful are circuits based on meshes of reconfigurable Mach-Zehnder interferometers as they enable active processing of light. Various possibilities…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
We propose a new exact method for shortest-path distance queries on large-scale networks. Our method precomputes distance labels for vertices by performing a breadth-first search from every vertex. Seemingly too obvious and too inefficient…
Anytime heuristic search algorithms try to find a (potentially suboptimal) solution as quickly as possible and then work to find better and better solutions until an optimal solution is obtained or time is exhausted. The most widely-known…
Microring resonators (MRRs) are essential components in large-scale photonic integrated circuits (PICs), but programming these circuits with high precision and efficiency remains an unsolved challenge. Conventional methods rely on complex…
Optimal path planning requires finding a series of feasible states from the starting point to the goal to optimize objectives. Popular path planning algorithms, such as Effort Informed Trees (EIT*), employ effort heuristics to guide the…
Partially coherent light is typically studied in the context of freely propagating continuous fields. Recent developments have indicated the existence of a `coherence advantage' in multimode optical communications, where partially coherent…
Many problems of interest for cyber-physical network systems can be formulated as Mixed Integer Linear Programs in which the constraints are distributed among the agents. In this paper we propose a distributed algorithm to solve this class…
Electronic phased-array radars offer new possibilities for radar search pattern optimization by using bi-dimensional beam-forming and beam-steering. Radar search pattern optimization can be approximated as a set cover problem and solved…
Minimizing wire-lengths is one of the most important objectives in circuit design. The process involves initially placing the logical units (cells) of a circuit onto a physical layout, and subsequently routing the wires to connect the…
Executing quantum circuits on currently available quantum computers requires compiling them to a representation that conforms to all restrictions imposed by the targeted architecture. Due to the limited connectivity of the devices' physical…
We consider a path-planning scenario for a mobile robot traveling in a configuration space with obstacles under the presence of stochastic disturbances. A novel path length metric is proposed on the uncertain configuration space and then…
Binary optimisation tasks are ubiquitous in areas ranging from logistics to cryptography. The exponential complexity of such problems means that the performance of traditional computational methods decreases rapidly with increasing problem…