in this paper a new method is proposed for path planning of planar manipulators amid obstacles through mathematical programming in a way that the robot’s links avoid collision with obstacles throughout their motion from an initial to a goal configuration. after inputting the workspace geometry, the shortest feasible path for the robot’s end-effector is planned toward its goal position using gen...

We present an exact Mixed Integer Programming (MIP) solution scheme where a set covering model is used to find a small set of first-choice branching variables. In a preliminary “sampling” phase, our method quickly collects a number of relevant lowcost fractional solutions that qualify as obstacles for the Linear Programming (LP) relaxation bound improvement. Then a set covering model is solved ...

A special ordered set approach for optimizing a discontinuous separable piecewise linear function, This is a PDF file of an unedited manuscript that has been accepted for publication. As a service to our customers we are providing this early version of the manuscript. The manuscript will undergo copyediting, typesetting, and review of the resulting galley proof before it is published in its fin...

An arborescent distribution system is a multi-level system in which each installation receives input from a unique immediate predecessor and supplies one or more immediate successors. In this paper, it is shown that a distribution system with an arborescent structure can also be modelled using an echelon stock concept where at any instant the total echelon holding cost is accumulated at the sam...

This paper considers the integrated problem of quay crane assignment, quay crane scheduling, yard location assignment, and vehicle dispatching operations at a container terminal. The main objective is to minimize vessel turnover times and maximize the terminal throughput, which are key economic drivers in terminal operations. Due to their computational complexities, these problems are not optim...

Using constraint programming (CP), we address the taskmapping problem in data-driven macroprogramming for wireless sensor networks (WSNs). A task graph representing the flow of data among tasks assists the application developer in specifying the features of a WSN at a high level of abstraction. A problem that arises in this context is how to map the tasks to nodes in the target network before t...

Given a set of n items with profits and weights and a knapsack capacity C, we study the problem of finding a maximal knapsack packing that minimizes the profit of selected items. We propose for the first time an effective dynamic programming (DP) algorithm which has O(nC) time complexity and O(n+C) space complexity. We demonstrate the equivalence between this problem and the problem of finding ...

Scheduling and Production Planning problems are typically large in scale and fairly complex. A decision support system for such an operations research (OR) problem makes a good case study to be implemented using the web enabled, enterprise scale facilities of Java 2 Enterprise Edition (J2EE) and Simple Object Access Protocol (SOAP). We propose mathematical programming models as well as design a...

The branch and bound procedure for solving mixed integer programming MIP problems using linear programming relaxations has been used with great success for decades Over the years a variety of researchers have studied ways of making the basic algorithm more e ective Breakthroughs in the elds of computer hardware computer software and mathematics have led to increasing success at solving larger a...

Parallel-batch machine problems arise in numerous manufacturing settings from semiconductor manufacturing to printing. They have recently been addressed in constraint programming (CP) via the combination of the novel sequenceEDD global constraint with the existing pack constraint to form the current state-of-the-art approach. In this paper, we present a detailed analysis of the problem and deri...