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Online 3D Bin Packing (3D-BP) with robotic arms is crucial for reducing transportation and labor costs in modern logistics. While Deep Reinforcement Learning (DRL) has shown strong performance, it often fails to adapt to real-world…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
Parallel applications with irregular and time-varying workloads often suffer from load imbalance. Dynamic load balancing techniques address this challenge by redistributing work during execution. We present a new type of distributed…
In this paper, we report the implementation and measured performance of our extreme-scale global simulation code on Sunway TaihuLight and two PEZY-SC2 systems: Shoubu System B and Gyoukou. The numerical algorithm is the parallel Barnes-Hut…
Rapidly Exploring Random Tree (RRT) algorithms, notably used for nonholonomic vehicle navigation in complex environments, are often not thoroughly evaluated for their specific challenges. This paper presents a first such comparison study of…
When algorithmic skeletons were first introduced by Cole in late 1980 the idea had an almost immediate success. The skeletal approach has been proved to be effective when application algorithms can be expressed in terms of skeletons…
In recent years, non-parametric methods utilizing random walks on graphs have been used to solve a wide range of machine learning problems, but in their simplest form they do not scale well due to the quadratic complexity. In this paper, a…
Motion planning against sensor data is often a critical bottleneck in real-time robot control. For sampling-based motion planners, which are effective for high-dimensional systems such as manipulators, the most time-intensive component is…
The paper presents Maximal Ellipsoid Backward Reachable Trees MAXELLIPSOID BRT, which is a multi-query algorithm for planning of dynamic systems under stochastic motion uncertainty and constraints on the control input. In contrast to…
The links between optimal control of dynamical systems and neural networks have proved beneficial both from a theoretical and from a practical point of view. Several researchers have exploited these links to investigate the stability of…
Replicated tree data structures are extensively used in collaborative applications and distributed file systems, where clients often perform move operations. Local move operations at different replicas may be safe. However, remote move…
The idle computers on a local area, campus area, or even wide area network represent a significant computational resource---one that is, however, also unreliable, heterogeneous, and opportunistic. This type of resource has been used…
We present Particle-Particle-Particle-Mesh (PPPM) and Tree Particle-Mesh (TreePM) implementations on GRAPE-5 and GRAPE-6A systems, special-purpose hardware accelerators for gravitational many-body simulations. In our PPPM and TreePM…
Autonomous mobile robots enable increased flexibility of manufacturing systems. The design and operating strategy of such a fleet of robots requires careful consideration of both fixed and operational costs. In this paper, a Monte-Carlo…
Balanced search trees are widely used in computer science to efficiently maintain dynamic ordered data. To support efficient set operations (e.g., union, intersection, difference) using trees, the join-based framework is widely studied.…
We present an efficient distributed memory parallel algorithm for computing connected components in undirected graphs based on Shiloach-Vishkin's PRAM approach. We discuss multiple optimization techniques that reduce communication volume as…
Kinodynamic motion planning is concerned with computing collision-free trajectories while abiding by the robot's dynamic constraints. This critical problem is often tackled using sampling-based planners (SBPs) that explore the robot's…
Reverse time migration (RTM) is a prominent technique in seismic imaging. Its resulting subsurface images are used in the industry to investigate with higher confidence the existence and the conditions of oil and gas reservoirs. Because of…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
Subgraph counting aims to count the occurrences of a subgraph template T in a given network G. The basic problem of computing structural properties such as counting triangles and other subgraphs has found applications in diverse domains.…