相关论文: Dynamic Path Contraction for Distributed, Dynamic …

In this paper, a deep reinforcement learning (DRL) method is proposed to address the problem of UAV navigation in an unknown environment. However, DRL algorithms are limited by the data efficiency problem as they typically require a huge…

Gradient compression is of growing interests for solving constrained optimization problems including compressed sensing, noisy recovery and matrix completion under limited communication resources and storage costs. Convergence analysis of…

We consider a discrete-time model of continuous-time distributed optimization over dynamic directed-graphs (digraphs) with applications to distributed learning. Our optimization algorithm works over general strongly connected dynamic…

Optimizing network throughput in real-world dynamic systems is critical, especially for diverse and delay-sensitive multimedia data types such as VoIP and video streaming. Traditional routing protocols, which rely on static metrics and…

Route planning is essential to mobile robot navigation problems. In recent years, deep reinforcement learning (DRL) has been applied to learning optimal planning policies in stochastic environments without prior knowledge. However, existing…

We develop a new algorithmic framework for designing approximation algorithms for cut-based optimization problems on capacitated undirected graphs that undergo edge insertions and deletions. Specifically, our framework dynamically maintains…

Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is inverted to obtain a joint space path, then, the latter is…

Calibrating simulation models that take large quantities of multi-dimensional data as input is a hard simulation optimization problem. Existing adaptive sampling strategies offer a methodological solution. However, they may not sufficiently…

Diffusion models have recently emerged as effective generative frameworks for trajectory optimization, capable of producing high-quality and diverse solutions. However, training these models in a purely data-driven manner without explicit…

This paper tackles the problem of discretizing accelerated optimization flows while retaining their convergence properties. Inspired by the success of resource-aware control in developing efficient closed-loop feedback implementations on…

Trajectory optimization considers the problem of deciding how to control a dynamical system to move along a trajectory which minimizes some cost function. Differential Dynamic Programming (DDP) is an optimal control method which utilizes a…

Evolutionary algorithms have been widely applied for solving dynamic constrained optimization problems (DCOPs) as a common area of research in evolutionary optimization. Current benchmarks proposed for testing these problems in the…

We present an algorithm for combining natural language processing (NLP) and fast robot motion planning to automatically generate robot movements. Our formulation uses a novel concept called Dynamic Constraint Mapping to transform complex,…

In this paper, we deal with a network of agents that want to cooperatively minimize the sum of local cost functions depending on a common decision variable. We consider the challenging scenario in which objective functions are unknown and…

This paper presents a new theory, known as robust dynamic pro- gramming, for a class of continuous-time dynamical systems. Different from traditional dynamic programming (DP) methods, this new theory serves as a fundamental tool to analyze…

We address the problem of optimal routing in overlay networks. An overlay network is constructed by adding new overlay nodes on top of a legacy network. The overlay nodes are capable of implementing any dynamic routing policy, however, the…

Efficient decision-making over continuously changing data is essential for many application domains such as cyber-physical systems, industry digitalization, etc. Modern stream reasoning frameworks allow one to model and solve various…

This paper presents a constrained adaptive dynamic programming (CADP) algorithm to solve general nonlinear nonaffine optimal control problems with known dynamics. Unlike previous ADP algorithms, it can directly deal with problems with state…

The use of adaptive workflow management for in situ visualization and analysis has been a growing trend in large-scale scientific simulations. However, coordinating adaptive workflows with traditional procedural programming languages can be…

This paper studies a constrained optimization problem over networked systems with an undirected and connected communication topology. The algorithm proposed in this work utilizes singular perturbation, dynamic average consensus, and saddle…