Related papers: Finding Shortest Path for Developed Cognitive Map …
When does a robot planner need a map? Reactive methods that use only the robot's current sensor data and local information are fast and flexible, but prone to getting stuck in local minima. Is there a middle-ground between fully reactive…
Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms…
In this paper, we propose a new method for path planning to a point for robot in environment with obstacles. The resulting algorithm is implemented as a simple variation of Dijkstra's algorithm. By adding a constraint to the shortest-path,…
We present in this paper several improvements for computing shortest path maps using OpenGL shaders. The approach explores GPU rasterization as a way to propagate optimal costs on a polygonal 2D environment, producing shortest path maps…
Given a directed graph of nodes and edges connecting them, a common problem is to find the shortest path between any two nodes. Here we show that the shortest path distances can be found by a simple matrix inversion: If the edges are given…
In this paper, we study the problem of optimal multi-robot path planning (MPP) on graphs. We propose two multiflow based integer linear programming (ILP) models that computes minimum last arrival time and minimum total distance solutions…
Finding shortest paths in a graph is relevant for numerous problems in computer vision and graphics, including image segmentation, shape matching, or the computation of geodesic distances on discrete surfaces. Traditionally, the concept of…
In this paper, we introduced a novel approach to computing the fewest-turn map directions or routes based on the concept of natural roads. Natural roads are joined road segments that perceptually constitute good continuity. This approach…
Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…
Off-road environments present unique challenges for autonomous navigation due to their complex and unstructured nature. Traditional global path-planning methods, which typically aim to minimize path length and travel time, perform poorly on…
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
Informative path planning algorithms are of paramount importance in applications like disaster management to efficiently gather information through a priori unknown environments. This is, however, a complex problem that involves finding a…
An autonomous robot with a limited vision range finds a path to the goal in an unknown environment in 2D avoiding polygonal obstacles. In the process of discovering the environmental map, the robot has to return to some positions marked…
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…
The medial axis transform has applications in numerous fields including visualization, computer graphics, and computer vision. Unfortunately, traditional medial axis transformations are usually brittle in the presence of outliers,…
The shortest-path distance is a fundamental concept in graph analytics and has been extensively studied in the literature. In many real-world applications, quality constraints are naturally associated with edges in the graphs and finding…
This paper proposes a novel method of coverage path planning for the purpose of scanning an unstructured environment autonomously. The method uses the morphological skeleton of the prior 2D navigation map via SLAM to generate a sequence of…
Cities are structured by roads. Having up to date and detailed maps of these is thus an important challenge for urban planing, civil engineering and transportation. Those maps are traditionally created manually, which represents a massive…
Computing the shortest path between two given locations in a road network is an important problem that finds applications in various map services and commercial navigation products. The state-of-the-art solutions for the problem can be…
In this note, we discuss and analyse a shortest path finding approach using strong spatial cognition. It is compared with a symbolic graph-based algorithm and it is shown that both approaches are similar with respect to structure and…