相关论文: Improved Algorithms for the Evacuation Route Plann…

We consider the escape interdiction problem in a transportation network. In the absence of traffic in the network, the criminal/attacker tries to escape from the city using any of the shortest paths from the crime scene to any randomly…

We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…

Many discrete optimization problems amount to selecting a feasible set of edges of least weight. We consider in this paper the context of spatial graphs where the positions of the vertices are uncertain and belong to known uncertainty sets.…

Crowd evacuation simulation is critical for enhancing public safety, and demanded for realistic virtual environments. Current mainstream evacuation models overlook the complex human behaviors that occur during evacuation, such as pedestrian…

We propose a novel exact algorithm for the transportation problem, one of the paradigmatic network optimization problems. The algorithm, denoted Iterated Inside Out, requires in input a basic feasible solution and is composed by two main…

A typical manipulation task consists of a manipulator equipped with a gripper to grasp and move an object with constraints on the motion of the hand-held object, which may be due to the nature of the task itself or from object-environment…

We propose integer-programming formulations for an optimal safety-landing site (SLS) location problem that arises in the design of urban air-transportation networks. We first develop a set-cover based approach for the case where the…

Sink mobility is seen as a successful strategy to resolve the hotspot problem in Wireless Sensor Network (WSN). Mobile sinks roam in the network and collect data from special nodes such as Cluster Heads (CH) by means of short-range…

Evacuation of robots from a disk has attained a lot of attention recently. We visit the problem from the perspective of fault-tolerance. We consider two robots trying to evacuate from a disk via a single hidden exit on the perimeter of the…

Resource Constrained Project Scheduling Problems (RCPSPs) without preemption are well-known NP-hard combinatorial optimization problems. A feasible RCPSP solution consists of a time-ordered schedule of jobs with corresponding execution…

We consider a variation of the well-known traveling salesman problem in which there are multiple agents who all have to tour the whole set of nodes of the same graph, while obeying node- and edge-capacity constraints require that agents…

Traffic evacuation planning can be essential in saving lives in case of natural disasters such as hurricanes, floods and wildfires. We build on a case study of traffic evacuation planning for the city of Mill Valley, CA. We run a…

The relaxed maximum entropy problem is concerned with finding a probability distribution on a finite set that minimizes the relative entropy to a given prior distribution, while satisfying relaxed max-norm constraints with respect to a…

Emergency Services Communication Systems (ESCS) are evolving into Internet Protocol based communication networks, promising enhancements to their function, availability, and resilience. This increase in complexity and cyber-attack surface…

Traditional navigation services find the fastest route for a single driver. Though always using the fastest route seems desirable for every individual, selfish behavior can have undesirable effects such as higher energy consumption and…

A Graph of Convex Sets (GCS) is a graph in which vertices are associated with convex programs and edges couple pairs of programs through additional convex costs and constraints. Any optimization problem over an ordinary weighted graph…

To minimize property loss and death count in terror attacks and other emergent scenarios, attention given to timely and effective evacuation cannot be enough. Due to limited evacuation resource, i.e., number of available exits, there exists…

We consider a task of surveillance-evading path-planning in a continuous setting. An Evader strives to escape from a 2D domain while minimizing the risk of detection (and immediate capture). The probability of detection is path-dependent…

With the increasing use of robots in daily life, there is a growing need to provide robust collaboration protocols for robots to tackle more complicated and dynamic problems effectively. This paper presents a novel, factor graph-based…

The objective of this study is to enable fast and safe manipulation tasks in home environments. Specifically, we aim to develop a system that can recognize its surroundings and identify target objects while in motion, enabling it to plan…