相关论文: Automata-based Optimal Planning with Relaxed Speci…
For multi-limbed robots, motion planning with posture and force constraints tends to be a difficult optimization problem due to nonlinearities, which also present extended solve times. We propose a multi-stage optimization framework with…
We propose a Boolean Linear Programming model for the preemptive single machine scheduling problem with equal processing times, arbitrary release dates and weights(priorities) minimizing the total weighted completion time. Almost always an…
The objective of this paper is to distill the following essential idea from the RSS 2016 Workshop on Minimality and Design Automation and the RSS 2017 Workshop on Minimality and Trade-offs in Automated Robot Design: The information…
Robotic manipulators are essential for future autonomous systems, yet limited trust in their autonomy has confined them to rigid, task-specific systems. The intricate configuration space of manipulators, coupled with the challenges of…
Designing robot morphologies and kinematics has traditionally relied on human intuition, with little systematic foundation. Motion-design co-optimization offers a promising path toward automation, but two major challenges remain: (i) the…
Velocity Planning for self-driving vehicles in a complex environment is one of the most challenging tasks. It must satisfy the following three requirements: safety with regards to collisions; respect of the maximum velocity limits defined…
This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…
Scheduled batch jobs have been widely used on the asynchronous computing platforms to execute various enterprise applications, including the scheduled notifications and the candidate pre-computation for the modern recommender systems. It is…
Finding the best configuration of algorithms' hyperparameters for a given optimization problem is an important task in evolutionary computation. We compare in this work the results of four different hyperparameter tuning approaches for a…
Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. Current approaches to the manipulation of articulated and…
This paper introduces a discrete relaxation for the class of combinatorial optimization problems which can be described by a set partitioning formulation under packing constraints. We present two combinatorial relaxations based on computing…
We present abstraction-refinement algorithms for model checking safety properties of timed automata. The abstraction domain we consider abstracts away zones by restricting the set of clock constraints that can be used to define them, while…
This work presents a two part framework for online planning and execution of dynamic aerial motions on a quadruped robot. Motions are planned via a centroidal momentum-based nonlinear optimization that is general enough to produce rich sets…
In vehicle production factories, the vehicle painting process employs multiple robotic arms to simultaneously apply paint to car bodies advancing along a conveyor line. Designing paint paths for these robotic arms, which involves assigning…
Constraint automata (CA) constitute a coordination model based on finite automata on infinite words. Originally introduced for modeling of coordinators, an interesting new application of CAs is implementing coordinators (i.e., compiling CAs…
We develop optimal control strategies for autonomous vehicles (AVs) that are required to meet complex specifications imposed as rules of the road (ROTR) and locally specific cultural expectations of reasonable driving behavior. We formulate…
Specifying properties can be challenging work. In this paper, we propose an automated approach to exemplify properties given in the form of automata extended with timing constraints and timing parameters, and that can also encode…
Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones. The challenge is choosing an appropriate design from a large search space. In this work, we describe a framework that…
Advanced Planning and Scheduling (APS) systems have become indispensable for modern manufacturing operations, enabling optimized resource allocation and production efficiency in increasingly complex and dynamic environments. While…
The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…