The significance of the basic idea implicit in the moving horizon control (MHC) has been recognized a long time ago in the operations management literature as a tractable scheme for solving stochastic multi period optimization problems, such as production planning and supply chain management, under the term moving horizon. In this paper, a moving horizon controller with move suppression term us...

Models for long-term planning often lead to infinite horizon stochastic programs that offer significant challenges for computation. Finite-horizon approximations are often used in these cases but they may also become computationally difficult. In this paper, we directly solve for value functions of infinite horizon stochastic programs. We show that a successive linear approximation method conve...

Four characteristic properties of human path planning strategy are course and fine planning, supervised planning, adaptation and robustness, and complexity reduction. These four characteristics are also observed in "model predictive controller" and its modified version, "receding horizon planner". We hypothesize that the human brain performs path planning tasks, literally like a receding horizo...

Complex manipulation tasks require careful integration of symbolic reasoning and motion planning. This problem, commonly referred to as Task Motion Planning (TAMP), is even more challenging if the workspace non-static, e.g. due human interventions perceived with noisy non-ideal sensors. work proposes an online approximated TAMP method that combines a geometric module planner standard task in re...

Robotic assembly planning enables architects to explicitly account for the process during design phase, and efficient building methods that profit from robots' different capabilities. Previous work has addressed of robot sequences identifying feasibility architectural designs. This paper extends previous by enabling with large, heterogeneous teams robots. We present a system which parallelizati...