Related papers: Scalable Algorithms with Provable Optimality Bound…
In a wide range of applications, we are required to rapidly solve a sequence of convex multiparametric quadratic programs (mp-QPs) on resource-limited hardwares. This is a nontrivial task and has been an active topic for decades in control…
This paper deals with the problem of autonomous navigation of a mobile robot in an unknown 2D environment to fully explore the environment as efficiently as possible. We assume a terrestrial mobile robot equipped with a ranging sensor with…
We tackle the problem of flying time-optimal trajectories through multiple waypoints with quadrotors. State-of-the-art solutions split the problem into a planning task - where a global, time-optimal trajectory is generated - and a control…
Multi-objective or multi-destination path planning is crucial for mobile robotics applications such as mobility as a service, robotics inspection, and electric vehicle charging for long trips. This work proposes an anytime iterative system…
We study the iterative refinement of path planning for multiple robots, known as multi-agent pathfinding (MAPF). Given a graph, agents, their initial locations, and destinations, a solution of MAPF is a set of paths without collisions.…
Navigating rigid body objects through crowded environments can be challenging, especially when narrow passages are presented. Existing sampling-based planners and optimization-based methods like mixed integer linear programming (MILP)…
Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…
The problem of optimizing a sequence of tasks for a robot, also known as multi-point manufacturing, is a well-studied problem. Many of these solutions use a variant of the Traveling Salesman Problem (TSP) and seek to find the minimum…
Wireless surveillance in cellular networks has become increasingly important, while commercial LTE surveillance cameras are also available nowadays. Nevertheless, most scheduling algorithms in the literature are throughput, fairness, or…
The Mixed-Shelves Picker Routing Problem (MSPRP) is a fundamental challenge in warehouse logistics, where pickers must navigate a mixed-shelves environment to retrieve SKUs efficiently. Traditional heuristics and optimization-based…
The Multi-mode Resource Availability Cost Problem (MRACP) optimizes resource availability to minimize usage costs and is a recent project scheduling problem variant. The Multi-Mode On-Site Workshop Availability Cost Problem (MOSWACP)…
This paper addresses the problem of finding multiple near-optimal, spatially-dissimilar paths that can be considered as alternatives in the decision making process, for finding optimal corridors in which to construct a new road. We further…
Private enterprises and governments around the world use speed cameras to control traffic flow and limit speed excess. Cameras may be exposed to difficult weather conditions and typically require frequent maintenance. When deciding the…
Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…
The massive exploitation of robots for industry 4.0 needs advanced wireless solutions that replace less flexible and more costly wired networks. In this regard, millimeter-waves (mm-waves) can provide high data rates, but they are…
Two complementary techniques for analyzing search spaces are proposed: (i) an algorithm to detect search points with potential to be local optima; and (ii) a slightly adjusted Wang-Landau sampling algorithm to explore larger search spaces.…
In this article, we propose a Newton-based method for solving multiobjective interval optimization problems (MIOPs). We first provide a connection between weakly Pareto optimal points and Pareto critical points in the context of MIOPs.…
Multi-robot systems are widely used for coverage tasks that require efficient coordination across large environments. In Multi-Robot Coverage Path Planning (MCPP), the objective is typically to minimize the makespan by generating…
Systematically including dynamically changing waypoints as desired discrete actions, for instance, resulting from superordinate task planning, has been challenging for online model predictive trajectory optimization with short planning…
Route planning also known as pathfinding is one of the key elements in logistics, mobile robotics and other applications, where engineers face many conflicting objectives. However, most of the current route planning algorithms consider only…