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

Particle-based dynamic occupancy maps were proposed in recent years to model the obstacles in dynamic environments. Current particle-based maps describe the occupancy status in discrete grid form and suffer from the grid size problem,…

This paper introduces a novel, lightweight method to solve the visibility problem for 2D grids. The proposed method evaluates the existence of lines-of-sight from a source point to all other grid cells in a single pass with no preprocessing…

Dual decomposition provides a tractable framework for designing algorithms for finding the most probable (MAP) configuration in graphical models. However, for many real-world inference problems, the typical decomposition has a large…

We explore efficient optimization of toolpaths based on multiple criteria for large instances of 3D printing problems. We first show that the minimum turn cost 3D printing problem is NP-hard, even when the region is a simple polygon. We…

In this paper we propose a novel algorithm to combine two or more cellular complexes, providing a minimal fragmentation of the cells of the resulting complex. We introduce here the idea of arrangement generated by a collection of cellular…

We have found provably optimal algorithms for full-domain discrete-ordinate transport sweeps on a class of grids in 2D and 3D Cartesian geometry that are regular at a coarse level but arbitrary within the coarse blocks. We describe these…

Microtransit offers opportunities to enhance urban mobility by combining the reliability of public transit and the flexibility of ride-sharing. This paper optimizes the design and operations of a deviated fixed-route microtransit system…

We introduce a new "subpixel-smoothed projection" (SSP) formulation for differentiable binarization in topology optimization (TopOpt) as a drop-in replacement for previous projection schemes, which suffer from near-non-differentiability and…

We propose an approach to solve multi-agent path planning (MPP) problems for complex environments. Our method first designs a special pebble graph with a set of feasibility constraints, under which MPP problems have feasibility guarantee.…

Bilevel optimization has been widely used in decision-making process. However, there still lacks an efficient algorithm to determine an optimal solution of a bilevel optimization problem, especially for a large-size problem. To bridge the…

Graph clustering or community detection constitutes an important task for investigating the internal structure of graphs, with a plethora of applications in several domains. Traditional techniques for graph clustering, such as spectral…

The Shortest-Path Problem in Graph of Convex Sets (SPP in GCS) is a recently developed optimization framework that blends discrete and continuous decision making. Many relevant problems in robotics, such as collision-free motion planning,…

We use the k-core decomposition to visualize large scale complex networks in two dimensions. This decomposition, based on a recursive pruning of the least connected vertices, allows to disentangle the hierarchical structure of networks by…

Task and motion planning under Signal Temporal Logic constraints is known to be NP-hard. A common class of approaches formulates these hybrid problems, which involve discrete task scheduling and continuous motion planning, as mixed-integer…

An optimization method is proposed in this paper for novel deployment of given number of directional landmarks (location and pose) within a given region in the 3-D task space. This new deployment technique is built on the geometric models…

Skin modeling is an ongoing research area that highly benefits from modern parallel algorithms. This article aims at applying shape optimization to compute cell size and arrangement for elastic energy minimization of a cellular composite…

In this paper, we propose a new mathematical optimization model for multiclass classification based on arrangements of hyperplanes. Our approach preserves the core support vector machine (SVM) paradigm of maximizing class separation while…

In this paper, we consider the Delay Constrained Unsplittable Shortest Path Routing problem which arises in the field of traffic engineering for IP networks. This problem consists, given a directed graph and a set of commodities, to compute…

Coordination graph is a promising approach to model agent collaboration in multi-agent reinforcement learning. It conducts a graph-based value factorization and induces explicit coordination among agents to complete complicated tasks.…

This paper proposes a novel second-order optimization algorithm based on the Optimal Control Principle (OCP), applicable to large-scale optimization problems in neural network training. The algorithm has a computational complexity of O(d)…