相关论文: Walkability Optimization: Formulations, Algorithms…
As cities expand, human mobility has become a central focus of urban planning and policy making to make cities more inclusive and sustainable. Initiatives such as the "15-minutes city" have been put in place to shift the attention from…
We propose a model of random walks on weighted graphs where the weights are interval valued, and connect it to reversible imprecise Markov chains. While the theory of imprecise Markov chains is now well established, this is a first attempt…
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…
Various local search approaches have recently been applied to machine scheduling problems under multiple objectives. Their foremost consideration is the identification of the set of Pareto optimal alternatives. An important aspect of…
While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present an efficient motion planning framework for simultaneously…
We consider the exploration problem: an agent equipped with a depth sensor must map out a previously unknown environment using as few sensor measurements as possible. We propose an approach based on supervised learning of a greedy…
Integer linear programming (ILP) remains computationally challenging due to its NP-complete nature despite its central role in scheduling, logistics, and design optimization. We introduce a fully quantum Metropolis-Hastings algorithm for…
The aim of this paper is to check feasibility of using the maximal-entropy random walk in algorithms finding communities in complex networks. A number of such algorithms exploit an ordinary or a biased random walk for this purpose. Their…
Equipping current decision-making tools with notions of fairness, equitability, or other ethically motivated outcomes, is one of the top priorities in recent research efforts in machine learning, AI, and optimization. In this paper, we…
This paper studies optimal motion planning subject to motion and environment uncertainties. By modeling the system as a probabilistic labeled Markov decision process (PL-MDP), the control objective is to synthesize a finite-memory policy,…
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…
We present an evaluation of several representative sampling-based and optimization-based motion planners, and then introduce an integrated motion planning system which incorporates recent advances in trajectory optimization into a sparse…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
Physical inactivity significantly contributes to obesity and other non-communicable diseases, yet efforts to increase population-wide physical activity levels have met with limited success. The built environment plays a pivotal role in…
Efficient tabletop rearrangement planning seeks to find high-quality solutions while minimizing total cost. However, the task is challenging due to object dependencies and limited buffer space for temporary placements. The complexity…
Finding the optimal embedding of networks into low-dimensional hyperbolic spaces is a challenge that received considerable interest in recent years, with several different approaches proposed in the literature. In general, these methods…
We present new models of optimization-based task and motion planning (TAMP) for robotic pick-and-place (P&P), which plan action sequences and motion trajectory with low computational costs. We improved an existing state-of-the-art TAMP…
With the escalating demand for meal delivery services, this study delves into the Meal Delivery Routing Problem (MDRP) within the context of last-mile logis-tics. Focusing on the critical aspects of courier allocation and order fulfillment,…
In this paper we consider the problem of optimizing the ecological connectivity of a landscape under a budget constraint by improving habitat areas and ecological corridors between them. We consider a formulation of this problem in terms of…
The random walk with choice is a well known variation to the random walk that first selects a subset of $d$ neighbours nodes and then decides to move to the node which maximizes the value of a certain metric; this metric captures the number…