Related papers: Symmetry-Based Search Space Reduction For Grid Map…
Visually sorted grid layouts provide an efficient method for organizing high-dimensional vectors in two-dimensional space by aligning spatial proximity with similarity relationships. This approach facilitates the effective sorting of…
We present a novel area matching algorithm for merging two different 2D grid maps. There are many approaches to address this problem, nevertheless, most previous work is built on some assumptions, such as rigid transformation, or similar…
Learning-based planners leveraging Graph Neural Networks can learn search guidance applicable to large search spaces, yet their potential to address symmetries remains largely unexplored. In this paper, we introduce a graph representation…
In geometry processing, symmetry is a universal type of high-level structural information of 3D models and benefits many geometry processing tasks including shape segmentation, alignment, matching, and completion. Thus it is an important…
We propose a new exact method for shortest-path distance queries on large-scale networks. Our method precomputes distance labels for vertices by performing a breadth-first search from every vertex. Seemingly too obvious and too inefficient…
Modern day computing increasingly relies on specialization to satiate growing performance and efficiency requirements. A core challenge in designing such specialized hardware architectures is how to perform mapping space search, i.e.,…
Unmanned aerial vehicles (UAVs) are increasingly utilized in search and rescue (SAR) operations to enhance efficiency by enabling rescue teams to cover large search areas in a shorter time. Reducing coverage time directly increases the…
This paper introduces a novel algorithm combination designed for fast one-to-many multicriteria shortest path search. A preprocessing algorithm excludes irrelevant vertices by building a smaller cover graph. A modified version of…
In this paper, we study the MapReduce framework from an algorithmic standpoint and demonstrate the usefulness of our approach by designing and analyzing efficient MapReduce algorithms for fundamental sorting, searching, and simulation…
Localization in a pre-built map is a basic technique for robot autonomous navigation. Existing mapping and localization methods commonly work well in small-scale environments. As a map grows larger, however, more memory is required and…
Path planning plays a crucial role in various autonomy applications, and RRT* is one of the leading solutions in this field. In this paper, we propose the utilization of vertex-based networks to enhance the sampling process of RRT*, leading…
Efficient layout of large-scale graphs remains a challenging problem: the force-directed and dimensionality reduction-based methods suffer from high overhead for graph distance and gradient computation. In this paper, we present a new graph…
In the era of dense retrieval, document indexing and retrieval is largely based on encoding models that transform text documents into embeddings. The efficiency of retrieval is directly proportional to the number of documents and the size…
We propose the Selective Densification method for fast motion planning through configuration space. We create a sequence of roadmaps by iteratively adding configurations. We organize these roadmaps into layers and add edges between…
It is common to encounter situations where one must solve a sequence of similar computational problems. Running a standard algorithm with worst-case runtime guarantees on each instance will fail to take advantage of valuable structure…
We present new refinement heuristics for the balanced graph partitioning problem that break with an age-old rule. Traditionally, local search only permits moves that keep the block sizes balanced (below a size constraint). In this work, we…
This paper introduces a novel, lightweight method to solve the visibility problem for 2D grids. The proposed method evaluates the existence of lines-of-sight from a source point to all other grid cells in a single pass with no preprocessing…
We demonstrate that a graph-based search algorithm-relying on the construction of an approximate neighborhood graph-can directly work with challenging non-metric and/or non-symmetric distances without resorting to metric-space mapping…
This article introduces a novel approach to constructing a topometric map that allows for efficient navigation and decision-making in mobile robotics applications. The method generates the topometric map from a 2D grid-based map. The…
Pathfinding is a very popular area in computer game development. While two-dimensional (2D) pathfinding is widely applied in most of the popular game engines, little implementation of real three-dimensional (3D) pathfinding can be found.…