Related papers: A Principled Approach Towards Symbolic Geometric C…

Optimization under structural constraints is typically analyzed through projection or penalty methods, obscuring the geometric mechanism by which constraints shape admissible dynamics. We propose an operator-theoretic formulation in which…

This paper presents a novel approach to numerically describe the interactions between rigid bodies, with a special focus on robotic grasping. Some of the more common approaches used to address such issues rely on satisfaction of a set of…

We present a simple and easy-to-implement algorithm to detect plan infeasibility in kinematic motion planning. Our method involves approximating the robot's configuration space to a discrete space, where each degree of freedom has a finite…

The pursue of what are properties that can be identified to permit an automated reasoning program to generate and find new and interesting theorems is an interesting research goal (pun intended). The automatic discovery of new theorems is a…

In many problems in optimal control, one seeks to minimise an objective function subject to constraints on the velocity of the system. Imposing these constraints directly -- the ``hard-constrained'' approach -- is often analytically and…

The question of interest in the present study is: ``Given a body subject to mechanical loads, how to define the initial geometry so that the deformed one matches precisely a prescribed shape?'' This question is particularly relevant in…

The aim of this paper is to develop a new axiomatization of planar geometry by reinterpreting the original axioms of Euclid. The basic concept is still that of a line segment but its equivalent notion of betweenness is viewed as a…

Satisfiability of boolean formulae (SAT) has been a topic of research in logic and computer science for a long time. In this paper we are interested in understanding the structure of satisfiable and unsatisfiable sentences. In previous work…

In this paper we present an alternative approach to symbolic segmentation; instead of implementing a new method we approach symbolic segmentation as an algorithm selection problem. That is, let there be $n$ available algorithms for symbolic…

This paper presents new methods for analyzing and evaluating generalized plans that can solve broad classes of related planning problems. Although synthesis and learning of generalized plans has been a longstanding goal in AI, it remains…

When a Hamiltonian system is subject to constraints which depend explicitly on time, difficulties can arise in attempting to reduce the system to its physical phase space. Specifically, it is non-trivial to restrict the system in such a way…

The realization space of geometric constraint systems is given by the vanishing locus of polynomials corresponding to natural geometric constraints. Such geometric constraint systems arise in many real-world scenarios such as structural…

Despite significant progress on current state-of-the-art image generation models, synthesis of document images containing multiple and complex object layouts is a challenging task. This paper presents a novel approach, called DocSynth, to…

In this review we identify a new category of structural optimization methods that has emerged over the last 20 years, which we propose to call feature-mapping methods. The two defining aspects of these methods are that the design is…

This paper addresses problems on the structural design of control systems taking explicitly into consideration the possible application to large-scale systems. We provide an efficient and unified framework to solve the following major…

As robots begin to cohabit with humans in semi-structured environments, the need arises to understand instructions involving rich variability---for instance, learning to ground symbols in the physical world. Realistically, this task must…

This is a survey of our research on geometric structures of projective embeddings and includes some topics of our talks in several symposia during 1990-99. We clarify our main problem, which is to construct a kind of geometric composition…

In this paper we study possibilities of using hierarchical reasoning, symbol elimination and model generation for the verification of parametric systems, where the parameters can be constants or functions. Our goal is to automatically…

We introduce the parametric matroid one-interdiction problem. Given a matroid, each element of its ground set is associated with a weight that depends linearly on a real parameter from a given parameter interval. The goal is to find, for…

This paper presents a general-purpose formulation of a large class of discrete-time planning problems, with hybrid state and control-spaces, as factored transition systems. Factoring allows state transitions to be described as the…