相关论文: A cell-decomposition based path planner for 3D nav…
In many submodular optimization applications, datasets are naturally partitioned into disjoint subsets. These scenarios give rise to submodular optimization problems with partition-based constraints, where the desired solution set should be…
A typical manipulation task consists of a manipulator equipped with a gripper to grasp and move an object with constraints on the motion of the hand-held object, which may be due to the nature of the task itself or from object-environment…
Generating time-optimal, collision-free trajectories for autonomous mobile robots involves a fundamental trade-off between guaranteeing safety and managing computational complexity. State-of-the-art approaches formulate spline-based motion…
In this paper, we develop a systematic framework for the time-sequential compression of dynamic probabilistic occupancy grids. Our approach leverages ideas from signal compression theory to formulate an optimization problem that searches…
An important problem in tree breeding is optimal selection from candidate pedigree members to produce the highest performance in seed orchards, while conserving essential genetic diversity. The most beneficial members should contribute as…
This work presents a new path classification criterion to distinguish paths geometrically and topologically from the workspace, which is divided through cell decomposition, generating a medial-axis-like skeleton structure. We use this…
This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This…
The Minimum Set Cover Problem (MSCP) is a classical NP-hard combinatorial optimization problem with numerous applications in science and engineering. Although a wide range of exact, approximate, and metaheuristic approaches have been…
A distributed spatio-temporal information based cooperative positioning (STICP) algorithm is proposed for wireless networks that require three-dimensional (3D) coordinates and operate in the global navigation satellite system (GNSS) denied…
The work provides an exhaustive comparison of some representative families of topology optimization methods for 3D structural optimization, such as the Solid Isotropic Material with Penalization (SIMP), the Level-set, the Bidirectional…
This paper proposes a dual divide-and-optimize algorithm (DualOpt) for solving the large-scale traveling salesman problem (TSP). DualOpt combines two complementary strategies to improve both solution quality and computational efficiency.…
Mapping is essential in robotics and autonomous systems because it provides the spatial foundation for path planning. Efficient mapping enables planning algorithms to generate reliable paths while ensuring safety and adapting in real time…
This paper addresses a new variant of the multi-trip single vehicle routing problem where the nodes are related to each other through AND-type precedence constraints. The problem aims at determining a sequence of trips to visit all the…
We address the problem of downlink beamformer design for signal-to-interference-plus-noise ratio (SINR) balancing in a multiuser multicell environment with imperfectly estimated channels at base stations (BSs). We first present a…
Compared to natural images, medical images usually show stronger visual patterns and therefore this adds flexibility and elasticity to resource-limited clinical applications by injecting proper priors into neural networks. In this paper, we…
Cellular manufacturing (CM) is an approach that includes both flexibility of job shops and high production rate of flow lines. Although CM provides many benefits in reducing throughput times, setup times, work-in-process inventories but the…
Combinatorial optimization problems are crucial in industry. However, many COPs are NP-hard, causing the search space to grow exponentially with problem size and rendering large-scale instances computationally intractable. Conventional…
In theory, hierarchies of semidefinite programming (SDP) relaxations based on sum of squares (SOS) polynomials have been shown to provide arbitrarily close approximations for a general polynomial optimization problem (POP). However, due to…
Optical networks with multi-core fibers can replace several electronics networks with a single topology. Each electronic link is replaced by a single fiber, which can save space, weight, and cost, while having better segregation and EMI…
Safe Interval Path Planning (SIPP) is a powerful algorithm for solving single-agent pathfinding problem when the agent is confined to a graph and certain vertices/edges of this graph are blocked at certain time intervals due to dynamic…