Related papers: Highway Hull Revisited
For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…
We characterize geodesic paths in the $n$-dimensional unit sphere under sup norm. A geodesic path between two points is a shortest curve joining the two points.
Path finding algorithm addresses problem of finding shortest path from source to destination avoiding obstacles. There exist various search algorithms namely A*, Dijkstra's and ant colony optimization. Unlike most path finding algorithms…
A ride sharing problem is considered where we are given a graph, whose edges are equipped with a travel cost, plus a set of objects, each associated with a transportation request given by a pair of origin and destination nodes. A vehicle…
We consider the problem of choosing a subset of proposed road network upgrades to implement within a fixed budget in order to optimize the benefit in terms of vehicle hours travelled (VHT), and show how to render the solution of this…
Most cities in the US and in the world were organized around car traffic. In particular, large structures such as urban freeways or ring roads were built for reducing car traffic congestion. With the evolution of public transportation,…
In designing a network to link n cities in a square of area n, one might be guided by the following two desiderata. First, the total network length should not be much greater than the length of the shortest network connecting all cities.…
We introduce space-efficient plane-sweep algorithms for basic planar geometric problems. It is assumed that the input is in a read-only array of $n$ items and that the available workspace is $\Theta(s)$ bits, where $\lg n \leq s \leq n…
Vehicles are increasingly becoming connected and short-range wireless communications promise to introduce a radical change in the drivers' behaviors. Among the main use cases, the intersection management is surely one of those that could…
Though great effort has been put into the study of path planning on urban roads and highways, few works have studied the driving strategy and trajectory planning in low-speed driving scenarios, e.g., driving on a university campus or…
We describe a $O(\log n )$-approximation algorithm for computing the homotopic \Frechet distance between two polygonal curves that lie on the boundary of a triangulated topological disk. Prior to this work, algorithms were known only for…
Given an $n$-vertex planar directed graph with real edge lengths and with no negative cycles, we show how to compute single-source shortest path distances in the graph in $O(n\log^2n/\log\log n)$ time with O(n) space. This is an improvement…
Nowadays, methodologies coming from studying physical systems are being applied to the description of a wide variety of complex systems. In particular, one can study thermodynamical methods to describe the overall behavior of many systems,…
Autonomous driving is a complex task which requires advanced decision making and control algorithms. Understanding the rationale behind the autonomous vehicles' decision is crucial to ensure their safe and effective operation on highway…
Given a polygon representing a transportation network together with a point p in its interior, we aim to extend the network by inserting a line segment, called a feed-link, which connects p to the boundary of the polygon. Once a feed link…
Given a set $P$ of $n$ points in the plane, its separability is the minimum number of lines needed to separate all its pairs of points from each other. We show that the minimum number of lines needed to separate $n$ points, picked randomly…
The increasing use of robots in unstructured environments necessitates the development of effective perception and navigation strategies to enable field robots to successfully perform their tasks. In particular, it is key for such robots to…
We consider optimal route planning when the objective function is a general nonlinear and non-monotonic function. Such an objective models user behavior more accurately, for example, when a user is risk-averse, or the utility function needs…
This paper explores the combination of Reinforcement Learning (RL) and search-based path planners to speed up the optimization of flight paths for airliners, where in case of emergency a fast route re-calculation can be crucial. The…
Shortest path (SP) computation is the building block for many location-based services, and achieving high throughput SP query processing with real-time response is crucial for those services. However, existing solutions can hardly handle…