13,230 research outputs found
Downwash-Aware Trajectory Planning for Large Quadrotor Teams
We describe a method for formation-change trajectory planning for large
quadrotor teams in obstacle-rich environments. Our method decomposes the
planning problem into two stages: a discrete planner operating on a graph
representation of the workspace, and a continuous refinement that converts the
non-smooth graph plan into a set of C^k-continuous trajectories, locally
optimizing an integral-squared-derivative cost. We account for the downwash
effect, allowing safe flight in dense formations. We demonstrate the
computational efficiency in simulation with up to 200 robots and the physical
plausibility with an experiment with 32 nano-quadrotors. Our approach can
compute safe and smooth trajectories for hundreds of quadrotors in dense
environments with obstacles in a few minutes.Comment: 8 page
Solving Jigsaw Puzzles By the Graph Connection Laplacian
We propose a novel mathematical framework to address the problem of
automatically solving large jigsaw puzzles. This problem assumes a large image,
which is cut into equal square pieces that are arbitrarily rotated and
shuffled, and asks to recover the original image given the transformed pieces.
The main contribution of this work is a method for recovering the rotations of
the pieces when both shuffles and rotations are unknown. A major challenge of
this procedure is estimating the graph connection Laplacian without the
knowledge of shuffles. We guarantee some robustness of the latter estimate to
measurement errors. A careful combination of our proposed method for estimating
rotations with any existing method for estimating shuffles results in a
practical solution for the jigsaw puzzle problem. Numerical experiments
demonstrate the competitive accuracy of this solution, its robustness to
corruption and its computational advantage for large puzzles
Partial Identification in Matching Models for the Marriage Market
We study partial identification of the preference parameters in models of
one-to-one matching with perfectly transferable utilities, without imposing
parametric distributional restrictions on the unobserved heterogeneity and with
data on one large market. We provide a tractable characterisation of the
identified set, under various classes of nonparametric distributional
assumptions on the unobserved heterogeneity. Using our methodology, we
re-examine some of the relevant questions in the empirical literature on the
marriage market which have been previously studied under the Multinomial Logit
assumption
Efficient algorithm for solving semi-infinite programming problems and their applications to nonuniform filter bank designs
An efficient algorithm for solving semi-infinite programming problems is proposed in this paper. The index set is constructed by adding only one of the most violated points in a refined set of grid points. By applying this algorithm for solving the optimum nonuniform symmetric/antisymmetric linear phase finite-impulse-response (FIR) filter bank design problems, the time required to obtain a globally optimal solution is much reduced compared with that of the previous proposed algorith
A linear programming based heuristic framework for min-max regret combinatorial optimization problems with interval costs
This work deals with a class of problems under interval data uncertainty,
namely interval robust-hard problems, composed of interval data min-max regret
generalizations of classical NP-hard combinatorial problems modeled as 0-1
integer linear programming problems. These problems are more challenging than
other interval data min-max regret problems, as solely computing the cost of
any feasible solution requires solving an instance of an NP-hard problem. The
state-of-the-art exact algorithms in the literature are based on the generation
of a possibly exponential number of cuts. As each cut separation involves the
resolution of an NP-hard classical optimization problem, the size of the
instances that can be solved efficiently is relatively small. To smooth this
issue, we present a modeling technique for interval robust-hard problems in the
context of a heuristic framework. The heuristic obtains feasible solutions by
exploring dual information of a linearly relaxed model associated with the
classical optimization problem counterpart. Computational experiments for
interval data min-max regret versions of the restricted shortest path problem
and the set covering problem show that our heuristic is able to find optimal or
near-optimal solutions and also improves the primal bounds obtained by a
state-of-the-art exact algorithm and a 2-approximation procedure for interval
data min-max regret problems
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