相关论文: Walkability Optimization: Formulations, Algorithms…

We study the task of finding good local optima in combinatorial optimization problems. Although combinatorial optimization is NP-hard in general, locally optimal solutions are frequently used in practice. Local search methods however…

Safe path and gait planning are essential for bipedal robots to navigate complex real-world environments. The prevailing approaches often plan the path and gait separately in a hierarchical fashion, potentially resulting in unsafe movements…

We propose an approach to solve multi-agent path planning (MPP) problems for complex environments. Our method first designs a special pebble graph with a set of feasibility constraints, under which MPP problems have feasibility guarantee.…

To solve the autonomous navigation problem in complex environments, an efficient motion planning approach is newly presented in this paper. Considering the challenges from large-scale, partially unknown complex environments, a three-layer…

Cities are complex systems that demand integrated approaches, with increasing attention focused on the neighborhood level. This study examines the interplay between expert-based mapping and citizen science in the Primer de Maig neighborhood…

One challenge of legged locomotion on uneven terrains is to deal with both the discrete problem of selecting a contact surface for each footstep and the continuous problem of placing each footstep on the selected surface. Consequently,…

In this thesis, we aim to improve the performance of TAMP algorithms from three complementary perspectives. First, we investigate the integration of discrete task planning with continuous trajectory optimization. Our main contribution is a…

We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…

This paper presents a pedestrian hopping model and a traffic signal scheduling strategy with consideration of both pedestrians and vehicles in the urban traffic system. Firstly, a novel mathematical model consisting of several logic…

We consider ordinal approximation algorithms for a broad class of utility maximization problems for multi-agent systems. In these problems, agents have utilities for connecting to each other, and the goal is to compute a maximum-utility…

We study the problem of modeling purchase of multiple products and utilizing it to display optimized recommendations for online retailers and e-commerce platforms. We present a parsimonious multi-purchase family of choice models called the…

This document presents an Integer Linear Programming (ILP) approach to optimize pedestrian evacuation in flood-prone historic urban areas. The model aims to minimize total evacuation cost by integrating pedestrian speed, route length, and…

Urbanization represents a huge opportunity for computer applications enabling cities to be managed more efficiently while, at the same time, improving the life quality of their citizens. One of the potential application of this kind of…

Ranking items to be recommended to users is one of the main problems in large scale social media applications. This problem can be set up as a multi-objective optimization problem to allow for trading off multiple, potentially conflicting…

This paper explores the benefits of computing arborescent trajectories (trajectory-trees) instead of commonly used sequential trajectories for partially observable robotic planning problems. In such environments, a robot infers knowledge…

Many information systems use tags and keywords to describe and annotate content. These allow for efficient organization and categorization of items, as well as facilitate relevant search queries. As such, the selected set of tags for an…

Often times, in many design problems, there is a need to select a small set of informative or representative elements from a large ground set of entities in an optimal fashion. Submodular optimization that provides for a formal way to solve…

Cutting planes are crucial for the performance of branch-and-cut algorithms for solving mixed-integer programming (MIP) problems, and linear row aggregation has been successfully applied to better leverage the potential of several major…

Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…

We investigate optimal routing and scheduling strategies for multi-hop wireless networks with rateless codes. Rateless codes allow each node of the network to accumulate mutual information from every packet transmission. This enables a…