相关论文: HTN Plan Repair Algorithms Compared: Strengths and…
We consider the problem of optimal path planning in different homotopy classes in a given environment. Though important in robotics applications, path-planning with reasoning about homotopy classes of trajectories has typically focused on…
The Stacker Crane Problem (SCP) is a variant of the Traveling Salesman Problem. In SCP, pairs of pickup and delivery points are designated on a graph, and a crane must visit these points to move objects from each pickup location to its…
We present a method to apply heuristic search algorithms to solve rearrangement planning by pushing problems. In these problems, a robot must push an object through clutter to achieve a goal. To do this, we exploit the fact that contact…
The history of learning for control has been an exciting back and forth between two broad classes of algorithms: planning and reinforcement learning. Planning algorithms effectively reason over long horizons, but assume access to a local…
We address the bin packing problem (BPP), which aims to maximize bin utilization when packing a variety of items. The offline problem, where the complete information about the item set and their sizes is known in advance, is proven to be…
We survey most of the different types of approximation algorithms which minimize the number of output vertices. We present their main qualities and their inherent drawbacks.
The feasibility-seeking approach provides a systematic scheme to manage and solve complex constraints for continuous problems, and we explore it for the floorplanning problems with increasingly heterogeneous constraints. The classic…
Transformer-based NLP models remain vulnerable to adversarial perturbations, yet existing repair methods face a fundamental trade-off: gradient-based approaches offer flexibility but lack verifiability and often overfit; methods that do…
This thesis presents novel algorithms to advance robotic object rearrangement, a critical task for autonomous systems in applications like warehouse automation and household assistance. Addressing challenges of high-dimensional planning,…
Parallel machine scheduling has been extensively studied in the past decades, with applications ranging from production planning to job processing in large computing clusters. In this work we study some of these fundamental optimization…
The Team Orienteering Problem (TOP) is an NP-hard routing problem in which a fleet of identical vehicles aims at collecting rewards (prizes) available at given locations, while satisfying restrictions on the travel times. In TOP, each…
We introduce a general abstract framework for database repairs, where the repair notions are defined using formal logic. We distinguish between integrity constraints and so-called query constraints. The former are used to model consistency…
The continuously increasing amount of digital data generated by today's society asks for better storage solutions. This survey looks at a new generation of coding techniques designed specifically for the needs of distributed networked…
The paper addresses design/building frameworks for some kinds of tree-like and hierarchical structures of systems. The following approaches are examined: (1) expert-based procedures, (2) hierarchical clustering; (3) spanning problems (e.g.,…
Industrial timetabling is a critical task for decision-makers across various sectors to ensure efficient system operation. In real-world settings, it remains challenging because unexpected events often disrupt execution. When such events…
Floor planning is an important and difficult task in architecture. When planning office buildings, rooms that belong to the same organisational unit should be placed close to each other. This leads to the following NP-hard mathematical…
Systems and machines undergo various failure modes that result in machine health degradation, so maintenance actions are required to restore them back to a state where they can perform their expected functions. Since maintenance tasks are…
By the growing trend of online shopping and e-commerce websites, recommendation systems have gained more importance in recent years in order to increase the sales ratios of companies. Different algorithms on recommendation systems are used…
The experimental evaluation of algorithms results in a large set of data which generally do not follow a normal distribution or are not heteroscedastic. Besides, some of its entries may be missing, due to the inability of an algorithm to…
Superoptimization requires the estimation of the best program for a given computational task. In order to deal with large programs, superoptimization techniques perform a stochastic search. This involves proposing a modification of the…