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Designing the topology of three-dimensional structures is a challenging problem due to its memory and time consumption. In this paper, we present a robust and efficient algorithm for solving large-scale 3D topology optimization problems.…
Rearrangement planning for object retrieval tasks from confined spaces is a challenging problem, primarily due to the lack of open space for robot motion and limited perception. Several traditional methods exist to solve object retrieval…
The integration of renewable energy into the power grid is often hindered by its fragmented infrastructure, leading to inefficient utilization due to the variability of energy production and its reliance on weather conditions. Battery…
This paper presents planning algorithms for a robotic manipulator with a fixed base in order to grasp a target object in cluttered environments. We consider a configuration of objects in a confined space with a high density so no…
Robustness in AI systems refers to their ability to maintain reliable and accurate performance under various conditions, including out-of-distribution (OOD) samples, adversarial attacks, and environmental changes. This is crucial in…
We consider the problem of geographically distributed data storage in a network of servers (or nodes) where the nodes are connected to each other via communication links having certain round-trip times (RTTs). Each node serves a specific…
The large-scale integration of renewable generation directly affects the reliability of power grids. We investigate the problem of power balancing in a general renewable-integrated power grid with storage and flexible loads. We consider a…
This paper proposes a framework for the procurement of flexibility reserve from aggregated storage fleets. It allows for arbitrary tree structures of aggregation hierarchy, as well as easily implementable disaggregation via broadcast…
In this paper, we investigate the charging scheduling optimization problem for large electric truck fleets operating with dedicated charging infrastructure. A central coordinator jointly determines the charging sequence and power allocation…
One of the most important challenges in smart grid systems is the integration of renewable energy resources into its design. In this work, two different techniques to mitigate the time varying and intermittent nature of renewable energy…
Deep learning has been demonstrated with tremendous success in recent years. Despite so, its performance in practice often degenerates drastically when encountering out-of-distribution (OoD) data, i.e. training and test data are sampled…
Balancing passenger demand and vehicle availability is crucial for ensuring the sustainability and effectiveness of urban transportation systems. To address this challenge, we propose a novel hierarchical strategy for the efficient…
Regenerating codes allow distributed storage systems to recover from the loss of a storage node while transmitting the minimum possible amount of data across the network. We present a systematic computer search for optimal systematic…
As language models become more general purpose, increased attention needs to be paid to detecting out-of-distribution (OOD) instances, i.e., those not belonging to any of the distributions seen during training. Existing methods for…
This paper introduces a novel, lightweight method to solve the visibility problem for 2D grids. The proposed method evaluates the existence of lines-of-sight from a source point to all other grid cells in a single pass with no preprocessing…
The complete collection of sparse resources in large, unknown environments remains a challenging problem for autonomous robot swarms. Previous studies have shown that a substantial portion of total mission time is consumed during the final…
Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…
The reliability of erasure-coded distributed storage systems, as measured by the mean time to data loss (MTTDL), depends on the repair bandwidth of the code. Repair-efficient codes provide reliability values several orders of magnitude…
In this paper we introduce a new classification algorithm called Optimization of Distributions Differences (ODD). The algorithm aims to find a transformation from the feature space to a new space where the instances in the same class are as…
We describe an efficient and fault-tolerant algorithm for distributed cyclic garbage collection. The algorithm imposes few requirements on the local machines and allows for flexibility in the choice of local collector and distributed…