Combining constructive and equational geometric constraint solving techniques

In the past few years, there has been a strong trend towards developing parametric, computer aided design systems based on geometric constraint solving. An efective way to capture the design intent in these systems is to define relationships between geometric and technological variables. In general, geometric constraint solving including functional relationships requires a general approach and appropiate techniques toachieve the expected functional capabilities. This work reports on a hybrid method which combines two geometric constraint solving techniques: Constructive and equational. The hybrid solver has the capability of managing functional relationships between dimension variables and variables representing conditions external to the geometric problem. The hybrid solver is described as a rewriting system and is shown to be correct.Postprint (published version

Models and Strategies for Variants of the Job Shop Scheduling Problem

Recently, a variety of constraint programming and Boolean satisfiability approaches to scheduling problems have been introduced. They have in common the use of relatively simple propagation mechanisms and an adaptive way to focus on the most constrained part of the problem. In some cases, these methods compare favorably to more classical constraint programming methods relying on propagation algorithms for global unary or cumulative resource constraints and dedicated search heuristics. In particular, we described an approach that combines restarting, with a generic adaptive heuristic and solution guided branching on a simple model based on a decomposition of disjunctive constraints. In this paper, we introduce an adaptation of this technique for an important subclass of job shop scheduling problems (JSPs), where the objective function involves minimization of earliness/tardiness costs. We further show that our technique can be improved by adding domain specific information for one variant of the JSP (involving time lag constraints). In particular we introduce a dedicated greedy heuristic, and an improved model for the case where the maximal time lag is 0 (also referred to as no-wait JSPs).Comment: Principles and Practice of Constraint Programming - CP 2011, Perugia : Italy (2011

Fast finite difference solvers for singular solutions of the elliptic Monge-Amp\`ere equation

The elliptic Monge-Ampere equation is a fully nonlinear Partial Differential Equation which originated in geometric surface theory, and has been applied in dynamic meteorology, elasticity, geometric optics, image processing and image registration. Solutions can be singular, in which case standard numerical approaches fail. In this article we build a finite difference solver for the Monge-Ampere equation, which converges even for singular solutions. Regularity results are used to select a priori between a stable, provably convergent monotone discretization and an accurate finite difference discretization in different regions of the computational domain. This allows singular solutions to be computed using a stable method, and regular solutions to be computed more accurately. The resulting nonlinear equations are then solved by Newton's method. Computational results in two and three dimensions validate the claims of accuracy and solution speed. A computational example is presented which demonstrates the necessity of the use of the monotone scheme near singularities.Comment: 23 pages, 4 figures, 4 tables; added arxiv links to references, added coment

Sampling-Based Methods for Factored Task and Motion Planning

This paper presents a general-purpose formulation of a large class of discrete-time planning problems, with hybrid state and control-spaces, as factored transition systems. Factoring allows state transitions to be described as the intersection of several constraints each affecting a subset of the state and control variables. Robotic manipulation problems with many movable objects involve constraints that only affect several variables at a time and therefore exhibit large amounts of factoring. We develop a theoretical framework for solving factored transition systems with sampling-based algorithms. The framework characterizes conditions on the submanifold in which solutions lie, leading to a characterization of robust feasibility that incorporates dimensionality-reducing constraints. It then connects those conditions to corresponding conditional samplers that can be composed to produce values on this submanifold. We present two domain-independent, probabilistically complete planning algorithms that take, as input, a set of conditional samplers. We demonstrate the empirical efficiency of these algorithms on a set of challenging task and motion planning problems involving picking, placing, and pushing

Joint Antenna Selection and Phase-Only Beamforming Using Mixed-Integer Nonlinear Programming

In this paper, we consider the problem of joint antenna selection and analog beamformer design in downlink single-group multicast networks. Our objective is to reduce the hardware costs by minimizing the number of required phase shifters at the transmitter while fulfilling given distortion limits at the receivers. We formulate the problem as an L0 minimization problem and devise a novel branch-and-cut based algorithm to solve the resulting mixed-integer nonlinear program to optimality. We also propose a suboptimal heuristic algorithm to solve the above problem approximately with a low computational complexity. Computational results illustrate that the solutions produced by the proposed heuristic algorithm are optimal in most cases. The results also indicate that the performance of the optimal methods can be significantly improved by initializing with the result of the suboptimal method.Comment: to be presented at WSA 201

Fitting a 3D Morphable Model to Edges: A Comparison Between Hard and Soft Correspondences

We propose a fully automatic method for fitting a 3D morphable model to single face images in arbitrary pose and lighting. Our approach relies on geometric features (edges and landmarks) and, inspired by the iterated closest point algorithm, is based on computing hard correspondences between model vertices and edge pixels. We demonstrate that this is superior to previous work that uses soft correspondences to form an edge-derived cost surface that is minimised by nonlinear optimisation.Comment: To appear in ACCV 2016 Workshop on Facial Informatic

Strong Stationarity Conditions for Optimal Control of Hybrid Systems

We present necessary and sufficient optimality conditions for finite time optimal control problems for a class of hybrid systems described by linear complementarity models. Although these optimal control problems are difficult in general due to the presence of complementarity constraints, we provide a set of structural assumptions ensuring that the tangent cone of the constraints possesses geometric regularity properties. These imply that the classical Karush-Kuhn-Tucker conditions of nonlinear programming theory are both necessary and sufficient for local optimality, which is not the case for general mathematical programs with complementarity constraints. We also present sufficient conditions for global optimality. We proceed to show that the dynamics of every continuous piecewise affine system can be written as the optimizer of a mathematical program which results in a linear complementarity model satisfying our structural assumptions. Hence, our stationarity results apply to a large class of hybrid systems with piecewise affine dynamics. We present simulation results showing the substantial benefits possible from using a nonlinear programming approach to the optimal control problem with complementarity constraints instead of a more traditional mixed-integer formulation.Comment: 30 pages, 4 figure