相关论文: Reconfiguration of Multisets with Applications to …
The paper described a generalized integrated glance to bin packing problems including a brief literature survey and some new problem formulations for the cases of multiset estimates of items. A new systemic viewpoint to bin packing problems…
Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…
This paper considers the problem of rearrangement planning, i.e finding a sequence of manipulation actions that displace multiple objects from an initial configuration to a given goal configuration. Rearrangement is a critical skill for…
We introduce the subset assignment problem in which items of varying sizes are placed in a set of bins with limited capacity. Items can be replicated and placed in any subset of the bins. Each (item, subset) pair has an associated cost. Not…
Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…
Configuration is a successful application area of Artificial Intelligence. In the majority of the cases, configuration systems focus on configuring one solution (configuration) that satisfies the preferences of a single user or a group of…
Bin packing is a classic optimization problem with a wide range of applications, from load balancing to supply chain management. In this work, we study the online variant of the problem, in which a sequence of items of various sizes must be…
We consider several extensions of the fractional bin packing problem, a relaxation of the traditional bin packing problem where the objects may be split across multiple bins. In these extensions, we introduce load-balancing constraints…
Reconfiguration is an important activity for companies selling configurable products or services which have a long life time. However, identification of a set of required changes in a legacy configuration is a hard problem, since even small…
The dynamics of real-world applications and systems require efficient methods for improving infeasible solutions or restoring corrupted ones by making modifications to the current state of a system in a restricted way. We propose a new…
We investigate approximation algorithms for several fundamental optimization problems on geometric packing. The geometric objects considered are very generic, namely $d$-dimensional convex fat objects. Our main contribution is a versatile…
Many combinatorial optimization problems such as the bin packing and multiple knapsack problems involve assigning a set of discrete objects to multiple containers. These problems can be used to model task and resource allocation problems in…
The article proposes a heuristic approximation approach to the bin packing problem under multiple objectives. In addition to the traditional objective of minimizing the number of bins, the heterogeneousness of the elements in each bin is…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
Reallocation scheduling is one of the most fundamental problems in various areas such as supply chain management, logistics, and transportation science. In this paper, we introduce the reallocation problem that models the scheduling in…
Prehensile object rearrangement in cluttered and confined spaces has broad applications but is also challenging. For instance, rearranging products in a grocery shelf means that the robot cannot directly access all objects and has limited…
A great number of robotics applications demand the rearrangement of many mobile objects, e.g., organizing products on shelves, shuffling containers at shipping ports, reconfiguring fleets of mobile robots, and so on. To boost the throughput…
We describe a framework for research and evaluation in Embodied AI. Our proposal is based on a canonical task: Rearrangement. A standard task can focus the development of new techniques and serve as a source of trained models that can be…
Robots often need to be reconfigurable$-$to customize, calibrate, or optimize robots operating in varying environments with different hardware). A particular challenge in robotics is the automated and dynamic reconfiguration to load and…
This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered: one where every robot or object needs to reach a…