相关论文: Constant Factor Time Optimal Multi-Robot Routing o…
We propose a novel feasible-path algorithm to solve the optimal power flow (OPF) problem for real-time use cases. The method augments the seminal work of Dommel and Tinney with second-order derivatives to work directly in the reduced space…
Given an edge-weighted graph $G$ on $n$ nodes, the NP-hard Max-Cut problem asks for a node bipartition such that the sum of edge weights joining the different partitions is maximized. We propose a fixed-parameter tractable algorithm…
We study dynamic network flows with uncertain input data under a robust optimization perspective. In the dynamic maximum flow problem, the goal is to maximize the flow reaching the sink within a given time horizon $T$, while flow requires a…
The time allocation problem in multi-function cognitive radar systems focuses on the trade-off between scanning for newly emerging targets and tracking the previously detected targets. We formulate this as a multi-objective optimization…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
We consider the speed planning problem for a robotic manipulator. In particular, we present an algorithm for finding the time-optimal speed law along an assigned path that satisfies velocity and acceleration constraints and respects the…
Our work concerns algorithms for an unweighted variant of Maximum Flow. In the All-Pairs Connectivity (APC) problem, we are given a graph $G$ on $n$ vertices and $m$ edges, and are tasked with computing the maximum number of edge-disjoint…
In this work we introduce the problem of task assistance planning where we are given two robots Rtask and Rassist. The first robot, Rtask, is in charge of performing a given task by executing a precomputed path. The second robot, Rassist,…
Robotic automation is a key technology that increases the efficiency and flexibility of manufacturing processes. However, one of the challenges in deploying robots in novel environments is finding the optimal base pose for the robot, which…
An NP-hard problem is considered of intersecting a given set of $n$ straight line segments on the plane with the smallest cardinality set of disks of fixed radii $r>0,$ where the set of segments forms a straight line drawing $G=(V,E)$ of a…
In this paper, we address the problem of real-time motion planning for multiple robotic manipulators that operate in close proximity. We build upon the concept of dynamic fabrics and extend them to multi-robot systems, referred to as…
Safe Interval Path Planning (SIPP) is a powerful algorithm for solving single-agent pathfinding problem when the agent is confined to a graph and certain vertices/edges of this graph are blocked at certain time intervals due to dynamic…
This paper proposes a new optimizer for deep learning, named d-AmsGrad. In the real-world data, noise and outliers cannot be excluded from dataset to be used for learning robot skills. This problem is especially striking for robots that…
We present Mixture of Discrete-time Gaussian Processes (MiDiGap), a novel approach for flexible policy representation and imitation learning in robot manipulation. MiDiGap enables learning from as few as five demonstrations using only…
We give an algorithm for computing exact maximum flows on graphs with $m$ edges and integer capacities in the range $[1, U]$ in $\widetilde{O}(m^{\frac{3}{2} - \frac{1}{328}} \log U)$ time. For sparse graphs with polynomially bounded…
In this paper, we show that given a weighted, directed planar graph $G$, and any $\epsilon >0$, there exists a polynomial time and $O(n^{\frac{1}{2}+\epsilon})$ space algorithm that computes the shortest path between two fixed vertices in…
In this paper, we study the problem of escaping from saddle points in smooth nonconvex optimization problems subject to a convex set $\mathcal{C}$. We propose a generic framework that yields convergence to a second-order stationary point of…
Speed-robust scheduling is the following two-stage problem of scheduling $n$ jobs on $m$ uniformly related machines. In the first stage, the algorithm receives the value of $m$ and the processing times of $n$ jobs; it has to partition the…
With the recent proliferation of large-scale learning problems,there have been a lot of interest on distributed machine learning algorithms, particularly those that are based on stochastic gradient descent (SGD) and its variants. However,…