Related papers: The Cost of Bounded Curvature
We establish the validity of asymptotic limits for the general transportation problem between random i.i.d. points and their common distribution, with respect to the squared Euclidean distance cost, in any dimension larger than three.…
Models involving branched structures are employed to describe several supply-demand systems such as the structure of the nerves of a leaf, the system of roots of a tree and the nervous or cardiovascular systems. Given a flow (traffic path)…
The Dubins Traveling Salesman Problem (DTSP) has generated significant interest over the last decade due to its occurrence in several civil and military surveillance applications. Currently, there is no algorithm that can find an optimal…
The transportation problem in the plane - how to move a set of objects from one set of points to another set of points in the cheapest way - is a very old problem going back several hundreds of years. In recent years the solution of the…
The asymptotic behavior of the optimal TSP tour length is well known from the classical Beardwood--Halton--Hammersley theorem. We extend this result to the Traveling Salesman Problem with Drone (TSPD), a cooperative routing problem in which…
This paper presents the reachability analysis of curves in $\mathbb{R}^3$ with a prescribed curvature bound. Based on Pontryagin Maximum Principle, we leverage the existing knowledge on the structure of solutions to minimum-time problems,…
Among fundamental problems in the context of distributed computing by autonomous mobile entities, one of the most representative and well studied is {\sc Point Convergence}: given an arbitrary initial configuration of identical entities,…
An underactuated nonholonomic Dubins-vehicle-like robot with a lower-limited turning radius travels with a constant speed in a plane, which hosts unknown complex objects. The robot has to approach and then circumnavigate all objects, with…
We study a variant of the Coordinated Motion Planning problem on undirected graphs, referred to herein as the \textsc{Coordinated Sliding-Motion Planning} (CSMP) problem. In this variant, we are given an undirected graph $G$, $k$ robots…
We consider the motion-planning problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time…
In this study, we propose an algorithmic framework for solving a class of optimal control problems. This class is associated with the minimum-time interception of moving target problems, where a plant with a given state equation must…
The \textsc{Mutual Visibility} is a well-known problem in the context of mobile robots. For a set of $n$ robots disposed in the Euclidean plane, it asks for moving the robots without collisions so as to achieve a placement ensuring that no…
This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…
This paper investigates the problem of planning a minimum-length tour for a three-dimensional Dubins airplane model to visually inspect a series of targets located on the ground or exterior surface of objects in an urban environment.…
This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…
We study the problem of computing the Fr\'echet distance between two polygonal curves under transformations. First, we consider translations in the Euclidean plane. Given two curves $\pi$ and $\sigma$ of total complexity $n$ and a threshold…
In this paper, we study the problems of computing the 1-center, centroid, and 1-median of objects moving with bounded speed in Euclidean space. We can acquire the exact location of only a constant number of objects (usually one) per unit…
We study the vanishing-regularization limit of entropically regularized optimal transport (EOT) for the Euclidean distance cost $c(x,y)=\|x-y\|$ in dimension $d>1$. We develop a comprehensive variational convergence framework that entails…
This paper is concerned with determining the shortest path for a pursuer aiming to intercept a moving target travelling at a constant speed. To address this challenge, we introduce an efficient mathematical model outlined as an optimal…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…