相关论文: A cell-decomposition based path planner for 3D nav…

We propose a joint model that links the strategic level location and capacity decisions with the operational level routing and hub assignment decisions to solve hub network design problem with congestion and heterogeneous economics of…

In this letter, we consider the Multi-Robot Efficient Search Path Planning (MESPP) problem, where a team of robots is deployed in a graph-represented environment to capture a moving target within a given deadline. We prove this problem to…

For multi-vehicle complex traffic scenarios in shared spaces such as intelligent intersections, safe coordination and trajectory planning is challenging due to computational complexity. To meet this challenge, we introduce a computationally…

This study develops a graph search algorithm to find the optimal discrimination path for the binary classification problem. The objective function is defined as the difference of variations between the true positive (TP) and false positive…

Coverage Path Planning (CPP) is vital in precision agriculture to improve efficiency and resource utilization. In irregular and dispersed plantations, traditional grid-based CPP often causes redundant coverage over non-vegetated areas,…

A mechanism to derive non-repetitive coverage path solutions with a proven minimal number of discontinuities is proposed in this work, with the aim to avoid unnecessary, costly end effector lift-offs for manipulators. The problem is…

Cell nuclei segmentation is one of the most important tasks in the analysis of biomedical images. With ever-growing sizes and amounts of three-dimensional images to be processed, there is a need for better and faster segmentation methods.…

This article introduces a numerical algorithm that serves as a preliminary step toward solving continuous-time model predictive control (MPC) problems directly without explicit time-discretization. The chief ingredients of the underlying…

This article presents a new search algorithm for the NP-hard problem of optimizing functions of binary variables that decompose according to a graphical model. It can be applied to models of any order and structure. The main novelty is a…

We provide a method to obtain beyond-worst-case time complexity for any single-source-shortest-path (SSSP) algorithm by exploiting modular structures in graphs. The key novelty is a graph decomposition, called the acyclic-connected (A-C)…

The Onion Decomposition has recently been shown to provide principled models of complex graphs that better reproduce the sparse networks found in nature, but at the cost of complicated connection rules. We propose a k-edge swapping MCMC…

We consider the problem of learning optimal binary classification trees. Literature on the topic has burgeoned in recent years, motivated both by the empirical suboptimality of heuristic approaches and the tremendous improvements in…

Path planning for multiple robots (MRPP) represents a task of finding non-colliding paths for robots through which they can navigate from their initial positions to specified goal positions. The problem is usually modeled using undirected…

We address combinatorial optimization problems with uncertain coefficients varying over ellipsoidal uncertainty sets. The robust counterpart of such a problem can be rewritten as a second-oder cone program (SOCP) with integrality…

By moving to millimeter wave (mmWave) frequencies, base stations (BSs) will be densely deployed to provide seamless coverage in sixth generation (6G) mobile communication systems, which, unfortunately, leads to severe cell-edge problem. In…

Second-order cone programs (SOCPs) with quadratic objective functions are common in optimal control and other fields. Most SOCP solvers which use interior-point methods are designed for linear objectives and convert quadratic objectives…

Chordal decomposition techniques are used to reduce large structured positive semidefinite matrix constraints in semidefinite programs (SDPs). The resulting equivalent problem contains multiple smaller constraints on the nonzero blocks (or…

The bi-objective shortest-path (BOSP) problem seeks to find paths between start and target vertices of a graph while optimizing two conflicting objective functions. We consider the BOSP problem in the presence of correlated objectives. Such…

We develop a graph neural network (GNN) to compute, within a time budget of 1 to 2 milliseconds required by practical systems, the optimal linear precoder (OLP) maximizing the minimal downlink user data rate for a Cell-Free Massive MIMO…

In many applications, including underwater robotics, the coverage problem requires an autonomous vehicle to systematically explore a defined area while minimizing redundancy and avoiding obstacles. This paper investigates coverage path…