Sequential motion planning of non-colliding particles in Euclidean spaces

In terms of Rudyak's generalization of Farber's topological complexity of the path motion planning problem in robotics, we give a complete description of the topological instabilities in any sequential motion planning algorithm for a system consisting of non-colliding autonomous entities performing tasks in space whilst avoiding collisions with several moving obstacles. The Isotopy Extension Theorem from manifold topology implies, somewhat surprisingly, that the complexity of this problem coincides with the complexity of the corresponding problem in which the obstacles are stationary.Comment: 10 pages; Final version, to appear in Proc. Amer. Math. So

Two-echelon freight transport optimisation: unifying concepts via a systematic review

Multi-echelon distribution schemes are one of the most common strategies adopted by the transport companies in an aim of cost reduction, but their identification in scientific literature is not always easy due to a lack of unification. This paper presents the main concepts of two-echelon distribution via a systematic review, in the specific a meta-narrative analysis, in order to identify and unify the main concepts, issues and methods that can be helpful for scientists and transport practitioners. The problem of system cost optimisation in two-echelon freight transport systems is defined. Moreover, the main variants are synthetically presented and discussed. Finally, future research directions are proposed.location-routing problems, multi-echelon distribution, cross-docking, combinatorial optimisation, systematic review.

Freight distribution systems with cross-docking: a multidisciplinary analysis

Freight transport constitutes one of the main activities that influences economy and society, as it assures a vital link between suppliers and customers and it represents a major source of employment. Multi-echelon distribution is one of the most common strategies adopted by the transport companies in an aim of cost reduction. This paper presents the main concepts of multi-echelon distribution with cross-docks through a multidisciplinary analysis that includes an optimisation study (using both exact and heuristic methods), a geographic approach (based on the concept of accessibility) and a socio-economic analysis. a conceptual framework for logistics and transport pooling systems, as well as a simulation method for strategic planning optimisation.Freight transport systems, cross-docking, simulation, collaboration, socio-economic issues

Metodología para la estimación del peligro sísmico con base en la teoría de vibraciones aleatorias

Se pretende mostrar la metodología a seguir para estimar el peligro sísmico en un sitio que cuenta con escasa información al respecto. Para ello se formulan y aplican dos planteamientos deterministas diferentes (teoría de vibraciones aleatorias y simulación de acelerogramas usando registros pequeños como funciones de Green empíricas) por medio de los cuales es posible estimar el peligro sísmico que enfrenta el sitio que se estudia. En particular se analiza el caso de la ciudad de Toluca y se estudian dos grandes temblores, el primero corresponde al temblor del 19 de septiembre de 1985 (Ms= 8.1) cuya intensidad se considera la máxima registrada en dicha ciudad, el segundo evento se refiere a un temblor hipotético de magnitud Ms= 8.3 en la brecha de Guerrero. Adicionalmente se analizan otros dos tipos de temblores (falla normal y Acambay) que pudiesen afectar el sitio en estudio. El peligro sísmico se valora en términos de los espectros de respuesta elásticos de los sismos analizados.Se pretende mostrar la metodologÌa a seguir para estimar el peligro sÌsmico en un sitio que cuenta con escasa informaciÛn al respecto. Para ello se formulan y aplican dos planteamientos deterministas diferentes (teorÌa de vibraciones aleatorias y simulaciÛn de acelerogramas usando registros pequeÒos como funciones de Green empÌricas) por medio de los cuales es posible estimar el peligro sÌsmico que enfrenta el sitio que se estudia. En particular se analiza el caso de la ciudad de Toluca y se estudian dos grandes temblores, el primero corresponde al temblor del 19 de septiembre de 1985 (Ms= 8.1) cuya intensidad se considera la m·xima registrada en dicha ciudad, el segundo evento se refiere a un temblor hipotÈtico de magnitud Ms= 8.3 en la brecha de Guerrero. Adicionalmente se analizan otros dos tipos de temblores (falla normal y Acambay) que pudiesen afectar el sitio en estudio. El peligro sÌsmico se valora en tÈrminos de los espectros de respuesta el·sticos de los sismos analizados

Convex Global 3D Registration with Lagrangian Duality

The registration of 3D models by a Euclidean transformation is a fundamental task at the core of many application in computer vision. This problem is non-convex due to the presence of rotational constraints, making traditional local optimization methods prone to getting stuck in local minima. This paper addresses finding the globally optimal transformation in various 3D registration problems by a unified formulation that integrates common geometric registration modalities (namely point-to-point, point-to-line and point-to-plane). This formulation renders the optimization problem independent of both the number and nature of the correspondences. The main novelty of our proposal is the introduction of a strengthened Lagrangian dual relaxation for this problem, which surpasses previous similar approaches [32] in effectiveness. In fact, even though with no theoretical guarantees, exhaustive empirical evaluation in both synthetic and real experiments always resulted on a tight relaxation that allowed to recover a guaranteed globally optimal solution by exploiting duality theory. Thus, our approach allows for effectively solving the 3D registration with global optimality guarantees while running at a fraction of the time for the state-of-the-art alternative [34], based on a more computationally intensive Branch and Bound method.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech