Related papers: A unified modeling framework and improved formulat…
The goal of robust motion planning consists of designing open-loop controls which optimally steer a system to a specific target region while mitigating uncertainties and disturbances which affect the dynamics. Recently, stochastic optimal…
Model predictive control (MPC) has established itself as the primary methodology for constrained control, enabling general-purpose robot autonomy in diverse real-world scenarios. However, for most problems of interest, MPC relies on the…
We investigate a single machine rescheduling problem that arises from an unexpected machine unavailability, after the given set of jobs has already been scheduled to minimize the total weighted completion time. Such a disruption is…
Model predictive control (MPC) is a method to formulate the optimal scheduling problem for grid flexibilities in a mathematical manner. The resulting time-constrained optimization problem can be re-solved in each optimization time step…
Aircraft routing and crew pairing problems aims at building the sequences of flight legs operated respectively by airplanes and by crews of an airline. Given their impact on airlines operating costs, both have been extensively studied for…
Warehouses are nowadays the scene of complex logistic problems integrating different decision layers. This paper addresses the Joint Order Batching, Picker Routing and Sequencing Problem with Deadlines (JOBPRSP-D) in rectangular warehouses.…
We consider the Continuous Energy-Constrained Scheduling Problem (CECSP). A set of jobs has to be processed on a continuous, shared resource. A schedule for a job consists of a start time, completion time, and a resource consumption…
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…
Motion planning and control are two core components of the robotic systems autonomy stack. The standard approach to combine these methodologies comprises an offline/open-loop stage, planning, that designs a feasible and safe trajectory to…
Robotic manipulators are essential for future autonomous systems, yet limited trust in their autonomy has confined them to rigid, task-specific systems. The intricate configuration space of manipulators, coupled with the challenges of…
A Multi-hop Control Network consists of a plant where the communication between sensors, actuators and computational units is supported by a (wireless) multi-hop communication network, and data flow is performed using scheduling and routing…
This paper presents a systematic review of mapping and scheduling strategies within the High-Performance Computing (HPC) compute continuum, with a particular emphasis on heterogeneous systems. It introduces a prototype workflow to establish…
This paper discusses the problem of assembly line control and introduces an optimal control formulation that can be used to improve the performance of the assembly line, in terms of cycle time minimization, resources' utilization, etc. A…
Early scheduling algorithms usually adjusted the clock cycle duration to the execution time of the slowest operation. This resulted in large slack times wasted in those cycles executing faster operations. To reduce the wasted times…
Combinatorial Optimization (CO) encompasses a wide range of problems that arise in many real-world scenarios. While significant progress has been made in developing learning-based methods for specialized CO problems, a unified model with a…
With the increasing adoption of plug-in electric vehicles (PEVs), it is critical to develop efficient charging coordination mechanisms that minimize the cost and impact of PEV integration to the power grid. In this paper, we consider the…
Research on container loading problems has been proved effective in increasing the filling rate of containers in different practical situations. However, the broader logistic context might pressure the loading process, leading to…
Load balancing, operator instance collocations and horizontal scaling are critical issues in Parallel Stream Processing Engines to achieve low data processing latency, optimized cluster utilization and minimized communication cost…
One-way car-sharing systems are transportation systems that allow customers to rent cars at stations scattered around the city, use them for a short journey, and return them at any station. The maximum customers' satisfaction problem…
We establish a linear programming formulation for the solution of joint chance constrained optimal control problems over finite time horizons. The joint chance constraint may represent an invariance, reachability or reach-avoid…