相关论文: How Best to Handle a Dicey Situation

We study the problem of storing a data object in a set of data nodes that fail independently with given probabilities. Our problem is a natural generalization of a homogenous storage allocation problem where all the nodes had the same…

We examine the problem of allocating a given total storage budget in a distributed storage system for maximum reliability. A source has a single data object that is to be coded and stored over a set of storage nodes; it is allowed to store…

In many applications such as rationing medical care and supplies, university admissions, and the assignment of public housing, the decision of who receives an allocation can be justified by various normative criteria. Such settings have…

We consider the problem of optimally allocating a given total storage budget in a distributed storage system. A source has a data object which it can code and store over a set of storage nodes; it is allowed to store any amount of coded…

We study a class of optimal allocation problems, including the well-known Bomber Problem, with the following common probabilistic structure. An aircraft equipped with an amount~$x$ of ammunition is intercepted by enemy airplanes arriving…

We study a class of games, in which the adversary (attacker) is to satisfy a complex mission specified in linear temporal logic, and the defender is to prevent the adversary from achieving its goal. A deceptive defender can allocate decoys,…

Automation applications are pushing the deployment of many high DoF manipulators in warehouse and manufacturing environments. This has motivated many efforts on optimizing manipulation tasks involving a single arm. Coordinating multiple…

We examine the problem of creating an encoded distributed storage representation of a data object for a network of mobile storage nodes so as to achieve the optimal recovery delay. A source node creates a single data object and disseminates…

Settings such as lending and policing can be modeled by a centralized agent allocating a resource (loans or police officers) amongst several groups, in order to maximize some objective (loans given that are repaid or criminals that are…

Distributed Opportunistic Scheduling (DOS) is inherently harder than conventional opportunistic scheduling due to the absence of a central entity that has knowledge of all the channel states. With DOS, stations contend for the channel using…

Dexterous robotic manipulation remains a longstanding challenge in robotics due to the high dimensionality of control spaces and the semantic complexity of object interaction. In this paper, we propose an object affordance-guided…

In distributed machine learning, data is dispatched to multiple machines for processing. Motivated by the fact that similar data points often belong to the same or similar classes, and more generally, classification rules of high accuracy…

In this paper we consider distributed allocation problems with memory constraint limits. Firstly, we propose a tractable relaxation to the problem of optimal symmetric allocations from [1]. The approximated problem is based on the Q-error…

We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…

Catching objects in flight (i.e., thrown objects) is a common daily skill for humans, yet it presents a significant challenge for robots. This task requires a robot with agile and accurate motion, a large spatial workspace, and the ability…

We address the problem of allocating limited resources in a network under persistent yet statistically unknown adversarial attacks. Each node in the network may be degraded, but not fully disabled, depending on its available defensive…

This work focuses on the dual-arm object rearrangement problem abstracted from a realistic industrial scenario of Cartesian robots. The goal of this problem is to transfer all the objects from sources to targets with the minimum total…

Optimizing storage assignment is a central problem in warehousing. Past literature has shown the superiority of the Duration-of-Stay (DoS) method in assigning pallets, but the methodology requires perfect prior knowledge of DoS for each…

We present a Defense/Attack resource allocation model, where Defender has some number of ``locks" to protect $n$ vulnerable boxes (sites), and Attacker is trying to destroy these boxes, having $m$ ``bombs" that can be placed into the boxes.…

Modern artificial intelligence relies on networks of agents that collect data, process information, and exchange it with neighbors to collaboratively solve optimization and learning problems. This article introduces a novel distributed…