相关论文: Subgoaling Relaxation-based Heuristics for Numeric…

Dealing with planning problems with both logical relations and numeric changes in real-world dynamic environments is challenging. Existing numeric planning systems for the problem often discretize numeric variables or impose convex…

Many planning formalisms allow for mixing numeric with Boolean effects. However, most of these formalisms are undecidable. In this paper, we will analyze possible causes for this undecidability by studying the number of different…

This paper presents a systematic approach for computing local solutions to motion planning problems in non-convex environments using numerical optimal control techniques. It extends the range of use of state-of-the-art numerical optimal…

The goal of robust motion planning consists of designing open-loop controls which optimally steer a system to a specific target region while mitigating uncertainties and disturbances which affect the dynamics. Recently, stochastic optimal…

Soft goals extend the classical model of planning with a simple model of preferences. The best plans are then not the ones with least cost but the ones with maximum utility, where the utility of a plan is the sum of the utilities of the…

In contrast to set-point tracking which aims to reduce the tracking error between the tracker and the reference, tracking-in-range problems only focus on whether the tracker is within a given range around the reference, making it more…

In automated planning, control parameters extend standard action representations through the introduction of continuous numeric decision variables. Existing state-of-the-art approaches have primarily handled control parameters as embedded…

In task and motion planning (TAMP), the ambiguity and underdetermination of abstract descriptions used by task planning methods make it difficult to characterize physical constraints needed to successfully execute a task. The usual approach…

We consider a stochastic linear system and address the design of a finite horizon control policy that is optimal according to some average cost criterion and accounts also for probabilistic constraints on both the input and state variables.…

People are often confronted with problems whose complexity exceeds their cognitive capacities. To deal with this complexity, individuals and managers can break complex problems down into a series of subgoals. Which subgoals are most…

Ignoring uncertainty in combinatorial optimization leads to suboptimal decisions in practice. Nevertheless, the focus is often on deterministic combinatorial optimization problems, mainly because they are already challenging enough without…

We describe a convex programming approach to the calculation of lower bounds on the minimum cost of constrained decentralized control problems with nonclassical information structures. The class of problems we consider entail the…

We consider a class of learning problem of point estimation for modeling high-dimensional nonlinear functions, whose learning dynamics is guided by model training dataset, while the estimated parameter in due course provides an acceptable…

Computing goal-directed behavior is essential to designing efficient AI systems. Due to the computational complexity of planning, current approaches rely primarily upon hand-coded symbolic action models and hand-coded heuristic-function…

Trained humans exhibit highly agile spatial skills, enabling them to operate vehicles with complex dynamics in demanding tasks and conditions. Prior work shows that humans achieve this performance by using strategies such as satisficing,…

Optimization problems with norm-bounding constraints arise in a variety of applications, including portfolio optimization, machine learning, and feature selection. A common approach to these problems involves relaxing the norm constraint…

We define an admissibility condition for abstractions expressed using angelic semantics and show that these conditions allow us to accelerate planning while preserving the ability to find the optimal motion plan. We then derive admissible…

Discrete-time robust optimal control problems generally take a min-max structure over continuous variable spaces, which can be difficult to solve in practice. In this paper, we extend the class of such problems that can be solved through a…

Path planning in a changing environment is a challenging task in robotics, as moving objects impose time-dependent constraints. Recent planning methods primarily focus on the spatial aspects, lacking the capability to directly incorporate…

The paper faces the problem of scheduling from a new perspective, trying to bridge the gap between classical heuristic approaches and system identification and control strategies. To this aim, a complete mathematical formulation of a…