Related papers: Discrete Dubins Paths
In the present work, control of time-optimal trajectory for a Dubins airplane in presence of moving and fixed obstacles is obtained. We show that for a Dubins airplane with an initial position, the control variable can be obtained using the…
We give an algorithm that takes a directed graph $G$ undergoing $m$ edge insertions with lengths in $[1, W]$, and maintains $(1+\epsilon)$-approximate shortest path distances from a fixed source $s$ to all other vertices. The algorithm is…
All parallel algorithms for directed reachability and shortest paths crucially rely on efficient shortcut constructions. These constructions find directed paths and shortcut them by adding edges, with the goal to reduce the diameter of the…
As we walk towards our destinations, our trajectories are constantly influenced by the presence of obstacles and infrastructural elements: even in absence of crowding our paths are often curved. Over the last two decades pedestrian dynamics…
This work studies path planning in two-dimensional space, in the presence of polygonal obstacles. We specifically address the problem of building a roadmap graph, that is, an abstract representation of all the paths that can potentially be…
We present improved deterministic algorithms for approximating shortest paths in the Congested Clique model of distributed computing. We obtain $poly(\log\log n)$-round algorithms for the following problems in unweighted undirected…
Solutions to linear controlled differential equations can be expressed in terms of iterated path integrals of the driving path. This collection of iterated integrals encodes essentially all information about the driving path. While upper…
This paper presents the problem of lateral interception by a Dubins car of a target that moves along an a priori known trajectory. This trajectory is given by two coordinates of a planar location and one angle of a heading orientation,…
Numerical computation of shortest paths or geodesics on curved domains, as well as the associated geodesic distance, arises in a broad range of applications across digital geometry processing, scientific computing, computer graphics, and…
In this article, a variation of the classical Markov-Dubins problem is considered, which deals with curvature-constrained least-cost paths in a plane with prescribed initial and final configurations, different bounds for the sinistral and…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
We consider the problem of finding ``dissimilar'' $k$ shortest paths from $s$ to $t$ in an edge-weighted directed graph $D$, where the dissimilarity is measured by the minimum pairwise Hamming distances between these paths. More formally,…
The well-known $k$-disjoint path problem ($k$-DPP) asks for pairwise vertex-disjoint paths between $k$ specified pairs of vertices $(s_i, t_i)$ in a given graph, if they exist. The decision version of the shortest $k$-DPP asks for the…
In [1], we proved the existence of solutions to reflected rough differential equations based on an idea of Euler approximation of the solutions which is due to Davie [6]. In this paper, we prove the existence theorem under weaker…
We propose a novel method for motion planning and illustrate its implementation on several canonical examples. The core novel idea underlying the method is to define a metric for which a path of minimal length is an admissible path, that is…
Many of the tools developed for the theory of tree-decompositions of graphs do not work for directed graphs. In this paper we show that some of the most basic tools do work in the case where the model digraph is a directed path. Using these…
The quadratic shortest path problem is the problem of finding a path in a directed graph such that the sum of interaction costs over all pairs of arcs on the path is minimized. We derive several semidefinite programming relaxations for the…
When applying methods of optimal control to motion planning or stabilization problems, some theoretical or numerical difficulties may arise, due to the presence of specific trajectories, namely, singular minimizing trajectories of the…
In the directed setting, the spaces of directed paths between fixed initial and terminal points are the defining feature for distinguishing different directed spaces. The simplest case is when the space of directed paths is homotopy…
We study the replacement paths problem in the $\mathsf{CONGEST}$ model of distributed computing. Given an $s$-$t$ shortest path $P$, the goal is to compute, for every edge $e$ in $P$, the shortest-path distance from $s$ to $t$ avoiding $e$.…