Routing Unmanned Vehicles in GPS-Denied Environments

Most of the routing algorithms for unmanned vehicles, that arise in data gathering and monitoring applications in the literature, rely on the Global Positioning System (GPS) information for localization. However, disruption of GPS signals either intentionally or unintentionally could potentially render these algorithms not applicable. In this article, we present a novel method to address this difficulty by combining methods from cooperative localization and routing. In particular, the article formulates a fundamental combinatorial optimization problem to plan routes for an unmanned vehicle in a GPS-restricted environment while enabling localization for the vehicle. We also develop algorithms to compute optimal paths for the vehicle using the proposed formulation. Extensive simulation results are also presented to corroborate the effectiveness and performance of the proposed formulation and algorithms.Comment: Publised in International Conference on Umanned Aerial System

Efficient Decomposition of Image and Mesh Graphs by Lifted Multicuts

Formulations of the Image Decomposition Problem as a Multicut Problem (MP) w.r.t. a superpixel graph have received considerable attention. In contrast, instances of the MP w.r.t. a pixel grid graph have received little attention, firstly, because the MP is NP-hard and instances w.r.t. a pixel grid graph are hard to solve in practice, and, secondly, due to the lack of long-range terms in the objective function of the MP. We propose a generalization of the MP with long-range terms (LMP). We design and implement two efficient algorithms (primal feasible heuristics) for the MP and LMP which allow us to study instances of both problems w.r.t. the pixel grid graphs of the images in the BSDS-500 benchmark. The decompositions we obtain do not differ significantly from the state of the art, suggesting that the LMP is a competitive formulation of the Image Decomposition Problem. To demonstrate the generality of the LMP, we apply it also to the Mesh Decomposition Problem posed by the Princeton benchmark, obtaining state-of-the-art decompositions

Layout Decomposition for Quadruple Patterning Lithography and Beyond

For next-generation technology nodes, multiple patterning lithography (MPL) has emerged as a key solution, e.g., triple patterning lithography (TPL) for 14/11nm, and quadruple patterning lithography (QPL) for sub-10nm. In this paper, we propose a generic and robust layout decomposition framework for QPL, which can be further extended to handle any general K-patterning lithography (K$>$4). Our framework is based on the semidefinite programming (SDP) formulation with novel coloring encoding. Meanwhile, we propose fast yet effective coloring assignment and achieve significant speedup. To our best knowledge, this is the first work on the general multiple patterning lithography layout decomposition.Comment: DAC'201

Competent genetic-evolutionary optimization of water distribution systems

A genetic algorithm has been applied to the optimal design and rehabilitation of a water distribution system. Many of the previous applications have been limited to small water distribution systems, where the computer time used for solving the problem has been relatively small. In order to apply genetic and evolutionary optimization technique to a large-scale water distribution system, this paper employs one of competent genetic-evolutionary algorithms - a messy genetic algorithm to enhance the efficiency of an optimization procedure. A maximum flexibility is ensured by the formulation of a string and solution representation scheme, a fitness definition, and the integration of a well-developed hydraulic network solver that facilitate the application of a genetic algorithm to the optimization of a water distribution system. Two benchmark problems of water pipeline design and a real water distribution system are presented to demonstrate the application of the improved technique. The results obtained show that the number of the design trials required by the messy genetic algorithm is consistently fewer than the other genetic algorithms

SAT Modulo Monotonic Theories

We define the concept of a monotonic theory and show how to build efficient SMT (SAT Modulo Theory) solvers, including effective theory propagation and clause learning, for such theories. We present examples showing that monotonic theories arise from many common problems, e.g., graph properties such as reachability, shortest paths, connected components, minimum spanning tree, and max-flow/min-cut, and then demonstrate our framework by building SMT solvers for each of these theories. We apply these solvers to procedural content generation problems, demonstrating major speed-ups over state-of-the-art approaches based on SAT or Answer Set Programming, and easily solving several instances that were previously impractical to solve