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This paper introduces a novel compact mixed integer linear programming (MILP) formulation and a discretization discovery-based solution approach for the Vehicle Routing Problem with Time Windows (VRPTW). We aim to solve the optimization…
We present a novel method for mixed-integer optimization problems with multivariate and Lipschitz continuous nonlinearities. In particular, we do not assume that the nonlinear constraints are explicitly given but that we can only evaluate…
Mixed observable Markov decision processes (MOMDPs) are a modeling framework for autonomous systems described by both fully and partially observable states. In this work, we study the problem of synthesizing a control policy for MOMDPs that…
Space mission planning and spacecraft design are tightly coupled and need to be considered together for optimal performance; however, this integrated optimization problem results in a large-scale Mixed-Integer Nonlinear Programming (MINLP)…
This paper investigates a multi-Unmanned Aerial Vehicle (UAV) joint base station-assisted Internet of Vehicles (IoV) task offloading system in dense urban environments. To minimize system delay and energy consumption under strict coupling…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
This article describes the methodology for formulating and solving optimal pump scheduling problems with variable-speed pumps (VSPs) as mixed integer linear programs (MILPs) using piece-linear approximations of the network components. The…
We solve the minimum-thrust optimal trajectory generation problem for the transition of a tiltwing Vertical Take-Off and Landing (VTOL) aircraft using convex optimisation. The method is based on a change of differential operator that allows…
In this work, we address a task allocation problem for human multi-robot settings. Given a set of tasks to perform, we formulate a general Mixed-Integer Linear Programming (MILP) problem aiming at minimizing the overall execution time while…
Bilevel optimization (BLO) problem, where two optimization problems (referred to as upper- and lower-level problems) are coupled hierarchically, has wide applications in areas such as machine learning and operations research. Recently, many…
In this paper, scheduling problems of aircraft minimizing the total delays on a same runway and on dual runways are studied. In contrast to the algorithms based on mixed-integer optimization models in existing works, where the optimality…
The optimal design of multi-target rendezvous and flyby missions is challenging due to the combination of traditional spacecraft trajectory optimization and high-dimensional combinatorial problems. This often requires large-scale global…
Navigation of wheeled vehicles on uneven terrain necessitates going beyond the 2D approaches for trajectory planning. Specifically, it is essential to incorporate the full 6dof variation of vehicle pose and its associated stability cost in…
This paper addresses the problem of motion planning for differential drive micro-mobility platforms. This class of vehicle is designed to perform small-distance transportation of passengers and goods in structured environments. Our approach…
As machine learning (ML) applications grow increasingly complex in recent years, modern ML frameworks often need to address multiple potentially conflicting objectives with coupled decision variables across different layers. This creates a…
In this paper, we consider the multiple probabilistic covering location problem (MPCLP), which attempts to open a fixed number of facilities to maximize the total covered customer demand under a joint probabilistic coverage setting. We…
In this paper, we consider the problem of optimally allocating tasks, expressed as global Linear Temporal Logic (LTL) specifications, to teams of heterogeneous mobile robots. The robots are classified in different types that capture their…
A mathematical programming model for a class of single machine family scheduling problem is described in this technical report, with the aim of comparing the performance in solving the scheduling problem by means of mathematical programming…
Task and motion planning under Signal Temporal Logic constraints is known to be NP-hard. A common class of approaches formulates these hybrid problems, which involve discrete task scheduling and continuous motion planning, as mixed-integer…