相关论文: Optimal Compositions using Unconventional Modular …

We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy…

The behavior composition problem involves automatically building a controller that is able to realize a desired, but unavailable, target system (e.g., a house surveillance) by suitably coordinating a set of available components (e.g., video…

The goal of a sequential decision making problem is to design an interactive policy that adaptively selects a group of items, each selection is based on the feedback from the past, in order to maximize the expected utility of selected…

In topology optimization of compliant mechanisms, the specific placement of boundary conditions strongly affects the resulting material distribution and performance of the design. At the same time, the most effective locations of the loads…

We consider the configuration formation problem in modular robotic systems where a set of singleton modules that are spatially distributed in an environment are required to assume appropriate positions so that they can configure into a new,…

Submodular maximization is a general optimization problem with a wide range of applications in machine learning (e.g., active learning, clustering, and feature selection). In large-scale optimization, the parallel running time of an…

Combinatorial optimization problems are prevalent across a wide variety of domains. These problems are often nuanced, their optimal solutions might not be efficiently obtainable, and they may require lots of time and compute resources to…

The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…

A new kind of six degree-of-freedom teaching manipulator without actuators is designed, for recording and conveniently setting a trajectory of an industrial robot. The device requires good gravity balance and operating force performance to…

In manufacturing, the increasing involvement of autonomous robots in production processes poses new challenges on the production management. In this paper we report on the usage of Optimization Modulo Theories (OMT) to solve certain…

Many software systems have become too large and complex to be managed efficiently by human administrators, particularly when they operate in uncertain and dynamic environments and require frequent changes. Requirements-driven adaptation…

In this paper, a library-based synthesis methodology for reversible circuits is proposed where a reversible specification is considered as a permutation comprising a set of cycles. To this end, a pre-synthesis optimization step is…

Soft-growing robots are innovative devices that feature plant-inspired growth to navigate environments. Thanks to their embodied intelligence of adapting to their surroundings and the latest innovation in actuation and manufacturing, it is…

An adaptive regularization algorithm for unconstrained nonconvex optimization is proposed that is capable of handling inexact objective-function and derivative values, and also of providing approximate minimizer of arbitrary order. In…

The study of combinatorial optimization problems with a submodular objective has attracted much attention in recent years. Such problems are important in both theory and practice because their objective functions are very general. Obtaining…

Many robotics tasks, such as path planning or trajectory optimization, are formulated as optimal control problems (OCPs). The key to obtaining high performance lies in the design of the OCP's objective function. In practice, the objective…

This paper proposes an adaptive modular geometric control framework for robotic manipulators. The proposed methodology decomposes the overall manipulator dynamics into individual modules, enabling the design of local geometric control laws…

In model selection problems for machine learning, the desire for a well-performing model with meaningful structure is typically expressed through a regularized optimization problem. In many scenarios, however, the meaningful structure is…

Humans and animals developed a sophisticated motor control apparatus and there is much evidence that it has a modular structure. The modularity offers a range of benefits, e.g. ability to learn dissociable motion styles without interference…

In this paper we propose a general algorithmic framework for first-order methods in optimization in a broad sense, including minimization problems, saddle-point problems and variational inequalities. This framework allows to obtain many…