Related papers: Finding Shortest Path for Developed Cognitive Map …
Route choice is often modelled as a two-step procedure in which travellers choose their routes from small sets of promising candidates. Many methods developed to identify such choice sets rely on assumptions about the mechanisms behind the…
Schematic maps are in daily use to show the connectivity of subway systems and to facilitate travellers to plan their journeys effectively. This study surveys up-to-date algorithmic approaches in order to give an overview of the state of…
Segmenting arbitrary 3D objects into constituent parts that are structurally meaningful is a fundamental problem encountered in a wide range of computer graphics applications. Existing methods for 3D shape segmentation suffer from complex…
Metro or transit maps, are schematic representations of transit networks to facilitate effective route-finding. These maps are often advertised on a web page or pamphlet highlighting routes from source to destination stations. To visually…
We propose and study an algorithm for computing a nearest passive system to a given non-passive linear time-invariant system (with much freedom in the choice of the metric defining `nearest', which may be restricted to structured…
Path planning is a fundamental problem in road networks, with the goal of finding a path that optimizes objectives such as shortest distance or minimal travel time. Existing methods typically use graph indexing to ensure the efficiency of…
When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…
Mobile robot navigation in total or partially unknown environments is still an open problem. The path planning algorithms lack completeness and/or performance. Thus, there is the need for complete (i.e., the algorithm determines in finite…
We consider the informative path planning ($\mathtt{IPP}$) problem in which a robot interacts with an uncertain environment and gathers information by visiting locations. The goal is to minimize its expected travel cost to cover a given…
The problem of navigating a bipedal robot to a desired destination in various environments is very important. However, it is very difficult to solve the navigation problem in real time because the computation time is very long due to the…
This paper presents a minimum displacement motion planning problem wherein obstacles are displaced by a minimum amount to find a feasible path. We define a metric for robot-obstacle intersection that measures the extent of the intersection…
Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the…
This paper presents a search-based partial motion planner to generate dynamically feasible trajectories for car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by…
Currently, low-resolution image recognition is confronted with a significant challenge in the field of intelligent traffic perception. Compared to high-resolution images, low-resolution images suffer from small size, low quality, and lack…
This paper investigates the problem of computing the shortest path between two states under resource constraints in environments with resource-replenishment regions. Namely, the length of the path is limited by a budget that can be restored…
Rapidly-exploring Random Tree (RRT) algorithms have been applied successfully to challenging robot motion planning and under-actuated nonlinear control problems. However a fundamental limitation of the RRT approach is the slow convergence…
This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of…
We propose a protocol optimization technique that is applicable to both weighted or unweighted graphs. Our aim is to explore by how much a small variation around the Shortest Path or Optimal Path protocols can enhance protocol performance.…
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…
Sampling-based algorithms for robot path planning offer probabilistic completeness and strong empirical convergence properties across environments with diverse obstacle configurations. However, in practice, these methods often require many…