GRASP (greedy randomized adaptive search procedure) is a metaheuristic for combinatorial optimization. GRASP usually is implemented as a multistart procedure, where each iteration is made up of a construction phase, where a randomized greedy solution is constructed, and a local search phase which starts at the constructed solution and applies iterative improvement until a locally optimal soluti...

This paper is a survey of greedy randomized adaptive search procedures (GRASP). GRASP is a multi-start or iterative procedure where each GRASP iteration consists of a construction phase, where a feasible solution is constructed, followed by a local search procedure that finds a locally optimal solution. The construction phase of GRASP is essentially a randomized greedy algorithm. Repeated appli...

in this paper, we consider scheduling of project networks under minimization of total weighted resource tardiness penalty costs. in this problem, we assume constrained resources are renewable and limited to very costly machines and tools which are also used in other projects and are not accessible in all periods of time of a project. in other words, there is a dictated ready date as well as a d...

We consider the queueing maximal covering location-allocation problem (QM-CLAP) with an M/M/1 queueing system. We propose a new solution procedure based on decomposition of the problem into smaller sub-problems. We solve the resulting sub-problems both with a branch and bound algorithm and with the meta-heuristic GRASP. We also solve the entire model with GRASP. Computational results for these ...

It is important for robots to obtain appropriate grasp positions autonomously to make stable grasps. In this paper, we propose an algorithm for automatically generating an optimum planar grasp based on grasp stability. Every finger is replaced with a two-dimensional linear spring model. Grasp stability is evaluated by using the eigenvalues of the grasp stiffness matrix derived from the potentia...

Recently, a number of grasp detection methods have been proposed that can be used to localize robotic grasp configurations directly from sensor data without estimating object pose. The underlying idea is to treat grasp perception analogously to object detection in computer vision. These methods take as input a noisy and partially occluded RGBD image or point cloud and produce as output pose est...

Many of the tasks that are potential candidates for automation involve grasping. We are interested in the programming of robots to perform grasping tasks. To do this, we propose the notion of “perceptual programming,” where the key idea is to enable a system to observe a human performing a task, understand it, and perform the task with minimal human intervention. This allows the programmer to e...

The precise relationship of functional writing and pencil grasp has not been determined. Occupational therapists and educators have long recommended the mature dynamic tripod grasp. This grasp provides the most control of the pencil. Variations of this grasp (lateral tripod, dynamic quadrupod, adapted tripod) are common in children with legible handwriting. A grasp with an open web space betwee...