We consider the problem of computing shortest paths having curvature at most one almost everywhere and visiting a sequence of $n$ points in the plane in a given order. This problem is a subproblem of the Dubins traveling salesman problem and also arises naturally in path planning for point car-like robots in the presence of polygonal obstacles. We show that when consecutive waypoints are a distance of at least four apart, this question reduces to a family of convex optimization problems over polyhedra in $\mathbb{R}^n$.

Increasing energy consumption in server consolidation environments leads to high maintenance costs for data centers. Main memory, no less than processor, is a major energy consumer in this environment. This paper proposes a technique for reducing memory energy consumption using virtual machine scheduling in multicore systems. We devise several heuristic scheduling algorithms by using a memory power simulator, which we designed and implemented. We also implement the biggest cover set first (BCSF) scheduling algorithm in the working server system. Through extensive simulation and implementation experiments, we observe the effectiveness of the memory-aware virtual machine scheduling in saving memory energy. In addition, we find out that power-aware memory management is essential to reduce the memory energy consumption.