Related papers: A Unified Framework for Automated Assembly Sequenc…
Recent road trials have shown that guaranteeing the safety of driving decisions is essential for the wider adoption of autonomous vehicle technology. One promising direction is to pose safety requirements as planning constraints in…
In traditional assembly lines, it is reasonable to assume that task execution times are the same for each worker. However, in sheltered work centres for disabled this assumption is not valid: some workers may execute some tasks considerably…
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…
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…
We present a systematic, algebraically based, design methodology for efficient implementation of computer programs optimized over multiple levels of the processor/memory and network hierarchy. Using a common formalism to describe the…
Vision-Language-Action systems follow instructions to execute multi-step tasks in multimodal environments. Recent VLA approaches typically rely on post-hoc correction mechanisms or operate under fixed task decompositions and alignment…
In additive manufacturing, the optimal processing conditions need to be determined to fabricate porosity-free parts. For this purpose, the design space for an arbitrary alloy needs to be scoped and analyzed to identify the areas of defects…
Compressive focal plane arrays (FPA) enable cost-effective high-resolution (HR) imaging by acquisition of several multiplexed measurements on a low-resolution (LR) sensor. Multiplexed encoding of the visual scene is typically performed via…
A mathematical programming model for a class of single machine family scheduling problem is described in this technical report, with the aim of comparing the performance in solving the scheduling problem by means of mathematical programming…
Traditional data processing pipelines are typically static and handcrafted for specific tasks, limiting their adaptability to evolving requirements. While general-purpose agents and coding assistants can generate code for well-understood…
To enable heterogeneous computing systems with autonomous programming and optimization capabilities, we propose a unified, end-to-end, programmable graph representation learning (PGL) framework that is capable of mining the complexity of…
Sequence parallelism (SP) serves as a prevalent strategy to handle long sequences that exceed the memory limit of a single device. However, for linear sequence modeling methods like linear attention, existing SP approaches do not take…
Dynamic graphs, featuring continuously updated vertices and edges, have grown in importance for numerous real-world applications. To accommodate this, graph frameworks, particularly their internal data structures, must support both…
In current chip design processes, using multiple tools to obtain a gate-level netlist often results in the loss of source code correlation. SynAlign addresses this challenge by automating the alignment process, simplifying iterative design,…
In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructions expressed in natural language. Our system builds a shared…
We deal with a challenging scheduling problem on parallel machines with sequence-dependent setup times and release dates from a real-world application of semiconductor work-shop production. There, jobs can only be processed by dedicated…
We present AutoSiMP, an autonomous pipeline that transforms a natural-language structural problem description into a validated, binary topology without manual configuration. The pipeline comprises five modules: (1) an LLM-based configurator…
This paper presents a spatial-based trajectory planning method for automated vehicles under actuator, obstacle avoidance, and vehicle dimension constraints. Starting from a nonlinear kinematic bicycle model, vehicle dynamics are transformed…
The automation of composite sheet layup is essential to meet the increasing demand for composite materials in various industries. However, draping plans for the robotic layup of composite sheets are not robust. A plan that works well under…
We present ASYMP, a distributed graph processing system developed for the timely analysis of graphs with trillions of edges. ASYMP has several distinguishing features including a robust fault tolerance mechanism, a lockless architecture…