相关论文: A Control Barrier Function Approach to Constrained…

The CLP scheme uses Horn clauses and SLD resolution to generate multiple constraint satisfaction problems (CSPs). The possible CSPs include rational trees (giving Prolog) and numerical algorithms for solving linear equations and linear…

We study a joint facility location and cost planning problem in a competitive market under random utility maximization (RUM) models. The objective is to locate new facilities and make decisions on the costs (or budgets) to spend on the new…

The capacitated location-routing problem involves determining the depots from a set of candidate capacitated depot locations and finding the required routes from the selected depots to serve a set of customers whereas minimizing a cost…

The single row facility layout problem (SRFLP) is a well-studied NP-hard combinatorial optimization problem with applications in manufacturing and logistics systems. In the SRFLP, a set of facilities with lengths is given, as well as…

In this paper we consider multiple constrained resource allocation problems, where the constraints can be specified by formulating activity dependency restrictions or by using game-theoretic models. All the problems are focused on generic…

This paper presents a new application of logic programming to a real-life problem in hydraulic engineering. The work is developed as a collaboration of computer scientists and hydraulic engineers, and applies Constraint Logic Programming to…

Recent work has shown that stabilizing an affine control system to a desired state while optimizing a quadratic cost subject to state and control constraints can be reduced to a sequence of Quadratic Programs (QPs) by using Control Barrier…

This paper addresses the problem of planning under uncertainty in large Markov Decision Processes (MDPs). Factored MDPs represent a complex state space using state variables and the transition model using a dynamic Bayesian network. This…

In this paper we propose a new finite element method for solving elliptic optimal control problems with pointwise state constraints, including the distributed controls and the Dirichlet or Neumann boundary controls. The main idea is to use…

Recent work has shown that stabilizing an affine control system while optimizing a quadratic cost subject to state and control constraints can be mapped to a sequence of Quadratic Programs (QPs) using Control Barrier Functions (CBFs) and…

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…

This paper presents a novel task-priority control framework for redundant robotic systems based on a hierarchy of control Lyapunov function (CLF) and control barrier function (CBF) based quadratic programs (QPs). The proposed method…

This letter addresses the constraint compatibility problem of control barrier functions (CBFs), which occurs when a safety-critical CBF requires a system to apply more control effort than it is capable of generating. This inevitably leads…

This article describes a model and an exact solution method for facility location problems with decision-dependent uncertainties. The model allows characterizing the probability distribution of the random elements as a function of the…

The $k$-Facility Location problem is a generalization of the classical problems $k$-Median and Facility Location. The goal is to select a subset of at most $k$ facilities that minimizes the total cost of opened facilities and established…

Distributed Constraint Optimization Problems (DCOPs) are a widely studied constraint handling framework. The objective of a DCOP algorithm is to optimize a global objective function that can be described as the aggregation of a number of…

This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers for autonomous systems and robots. We present novel…

We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such problems can be solved through a combination of tractable…

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…

The linear programming (LP) approach is, together with value iteration and policy iteration, one of the three fundamental methods to solve optimal control problems in a dynamic programming setting. Despite its simple formulation,…