相关论文: Combinatorial framework for planning in geological…

Global optimization of atomistic structure rely on the generation of new candidate structures in order to drive the exploration of the potential energy surface (PES) in search for the global minimum energy (GM) structure. In this work, we…

This paper introduces a new combinatorial framework for modeling the growth of binary trees through a discrete evolution process that incorporates a growing rule and an extinction rule. Building upon the theory of increasingly labeled…

Solving complex planning problems has been a long-standing challenge in computer science. Learning-based subgoal search methods have shown promise in tackling these problems, but they often suffer from a lack of completeness guarantees,…

Automation of excavation tasks requires real-time trajectory planning satisfying various constraints. To guarantee both constraint feasibility and real-time trajectory re-plannability, we present an integrated framework for real-time…

The challenge in combined task and motion planning (TAMP) is the effective integration of a search over a combinatorial space, usually carried out by a task planner, and a search over a continuous configuration space, carried out by a…

Exploration is a fundamental problem in robot autonomy. A major limitation, however, is that during exploration robots oftentimes have to rely on on-board systems alone for state estimation, accumulating significant drift over time in large…

Hierarchically designed mechanical metamaterials involve nested levels of structural organization, mimicking natural structures (such as bones, wood, and bird feathers) to create advanced functional materials. Compositional hierarchy, a…

This paper presents a two-stage trajectory planning framework for a multi-UAV rigid-payload cascaded transportation system, aiming to address planning challenges in densely cluttered environments. In Stage I, an Enhanced Tube-RRT* algorithm…

We develop a combinatorial framework to study certain polyhedral maps which are higher-dimensional analogues of tropical covers between metric graphs. Under a mild combinatorial assumption, we show that a map satisfies the so-called…

Structure identification in cosmological simulations plays an important role in analysing simulation outputs. The definition of these structures directly impacts the inferred properties derived from these simulations. This paper proposes a…

Designing an embedding retrieval system requires navigating a complex design space of conflicting trade-offs between efficiency and effectiveness. This work structures these decisions as a vertical traversal of the system design stack. We…

The design of interplanetary trajectories often involves a preliminary search for options later refined/assembled into one final trajectory. It is this broad search that, often being intractable, inspires the international event called…

The motivation of this work is to define cohomology classes in the space of knots that are both easy to find and to evaluate, by reducing the problem to simple linear algebra. We achieve this goal by defining a combinatorial graded cochain…

The integration of manned and unmanned aircraft can help improve wildfire response. Wildfire containment failures occur when resources available to first responders, who execute the initial stages of wildfire management referred to as the…

Determining the optimal number and identity of structural clusters from an ensemble of molecular configurations continues to be a challenge. Recent structural clustering methods have focused on the use of internal coordinates due to the…

I describe a framework for adaptive scientific exploration based on iterating an Observation--Inference--Design cycle that allows adjustment of hypotheses and observing protocols in response to the results of observation on-the-fly, as data…

Combinatorial optimization is one of the fundamental research fields that has been extensively studied in theoretical computer science and operations research. When developing an algorithm for combinatorial optimization, it is commonly…

Non-thermal advanced fuel fusion trades the requirement of a large amount of recirculating tritium in the system for that of large recirculating power. Phase space engineering technologies utilizing externally injected electromagnetic…

This work presents a trajectory planning method based on composite Bernstein polynomials for autonomous systems navigating complex environments. The method is implemented in a symbolic optimization framework that enables continuous paths…

This paper presents a topology optimization approach to design 2D contact-aided compliant mechanisms (CCMs) that can trace the desired output paths with more than one kink while experiencing self and/or external contacts. Such CCMs can be…