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Safe trajectory planning in complex environments must balance stringent collision avoidance with real-time efficiency, which is a long-standing challenge in robotics. In this work, we present a diffusion-based trajectory planning framework…

For enabling efficient, large-scale coordination of unmanned aerial vehicles (UAVs) under the labeled setting, in this work, we develop the first polynomial time algorithm for the reconfiguration of many moving bodies in three-dimensional…

Flexible robotic cells are utilized to produce standardized products at a high speed production rate, and to set up the production floors based on rapid operating environment changes. In FRC, there are a number of computer numerical control…

Recent developments of advanced driver-assistance systems necessitate an increasing number of tests to validate new technologies. These tests cannot be carried out on track in a reasonable amount of time and automotive groups rely on…

Compute and memory constraints have historically prevented traffic simulation software users from fully utilizing the predictive models underlying them. When calibrating car-following models, particularly, accommodations have included 1)…

In this paper, we investigate a novel minimum length scheduling problem to determine the optimal power control, and scheduling for constant and continuous rate models, while considering concurrent transmission of users, energy causality,…

This paper investigates a novel type of driver routing and scheduling problem motivated by a practical application in long-distance bus networks. A key difference from other crew scheduling problems is that drivers can be exchanged between…

The capacitated vehicle routing problem (CVRP) involves distributing (identical) items from a depot to a set of demand locations, using a single capacitated vehicle. We study a generalization of this problem to the setting of multiple…

This paper offers a new algorithm to efficiently optimize scheduling decisions for dial-a-ride problems (DARPs), including problem variants considering electric and autonomous vehicles (e-ADARPs). The scheduling heuristic, based on linear…

Path planning is an important component in any highly automated vehicle system. In this report, the general problem of path planning is considered first in partially known static environments where only static obstacles are present but the…

This paper proposes an approach to perform travel demand calibration for high-resolution stochastic traffic simulators. It employs abundant travel times at the path-level, departing from the standard practice of resorting to scarce…

Ride-sharing is an essential aspect of modern urban mobility. In this paper, we consider a classical problem in ride-sharing - the Multi-Vehicle Dial-a-Ride Problem (Multi-Vehicle DaRP). Given a fleet of vehicles with a fixed capacity…

Multicast allows sending a message to multiple recipients without having to create and send a separate message for each recipient. This preserves network bandwidth, which is particularly important in time-sensitive networks. These networks…

We tackle the problem of non-preemptive periodic scheduling with a harmonic set of periods. Problems of this kind arise within domains of periodic manufacturing and maintenance, and also during the design of industrial, automotive, and…

Vehicle platooning facilitates the partial automation of vehicles and can significantly reduce fuel consumption. Mobile communication infrastructure makes it possible to dynamically coordinate the formation of platoons en route. We consider…

Conditional forecasts, i.e. projections of a set of variables of interest on the future paths of some other variables, are used routinely by empirical macroeconomists in a number of applied settings. In spite of this, the existing…

In grid networks, distributed resources are interconnected by wide area network to support compute and data-intensive applications, which require reliable and efficient transfer of gigabits (even terabits) of data. Different from…

In traffic engineering, fixed-time traffic signal control remains widely used for its low cost, stability, and interpretability. However, its design relies on hand-crafted formulas (e.g., Webster) and manual re-timing by engineers to adapt…

We study the online busy time scheduling model on heterogeneous machines. In our setting, jobs with uniform length arrive online with a deadline that becomes known to the algorithm at the job's arrival time. An algorithm has access to…

Vector autoregressive (VAR) models are popularly adopted for modelling high-dimensional time series, and their piecewise extensions allow for structural changes in the data. In VAR modelling, the number of parameters grow quadratically with…