Time-optimal Coordination of Mobile Robots along Specified Paths

In this paper, we address the problem of time-optimal coordination of mobile robots under kinodynamic constraints along specified paths. We propose a novel approach based on time discretization that leads to a mixed-integer linear programming (MILP) formulation. This problem can be solved using general-purpose MILP solvers in a reasonable time, resulting in a resolution-optimal solution. Moreover, unlike previous work found in the literature, our formulation allows an exact linear modeling (up to the discretization resolution) of second-order dynamic constraints. Extensive simulations are performed to demonstrate the effectiveness of our approach.Comment: Published in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS

The N-K Problem in Power Grids: New Models, Formulations and Numerical Experiments (extended version)

Given a power grid modeled by a network together with equations describing the power flows, power generation and consumption, and the laws of physics, the so-called N-k problem asks whether there exists a set of k or fewer arcs whose removal will cause the system to fail. The case where k is small is of practical interest. We present theoretical and computational results involving a mixed-integer model and a continuous nonlinear model related to this question.Comment: 40 pages 3 figure

Application of mixed integer programming to a large scale logistics problem

Integer Programming;Logistics;production