Related papers: Discrete Dubins Paths
We present a new preprocessing algorithm for embedding the nodes of a given edge-weighted undirected graph into a Euclidean space. The Euclidean distance between any two nodes in this space approximates the length of the shortest path…
We study the motion-planning problem for a car-like robot whose turning radius is bounded from below by one and which is allowed to move in the forward direction only (Dubins car). For two robot configurations $\sigma, \sigma'$, let…
A shortest-path algorithm finds a path containing the minimal cost between two vertices in a graph. A plethora of shortest-path algorithms is studied in the literature that span across multiple disciplines. This paper presents a survey of…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…
A modified version of the Dijkstra algorithm using an inventive contraction hierarchy is proposed. The algorithm considers a directed acyclic graph with a conical or semi-circular structure for which a pair of edges is chosen iteratively…
We consider the problem of a particle traveling from an initial configuration to a final configuration (given by a point in the plane along with a prescribed velocity vector) in minimum time with non-homogeneous velocity and with…
Homotopy methods are attractive due to their capability of solving difficult optimisation and optimal control problems. The underlying idea is to construct a homotopy, which may be considered as a continuous (zero) curve between the…
We reduce the problem of computing a rectilinear shortest path between two given points s and t in the splinegonal domain \calS to the problem of computing a rectilinear shortest path between two points in the polygonal domain. As part of…
In this work we study shortest path problems in multimode graphs, a generalization of the min-distance measure introduced by Abboud, Vassilevska W. and Wang in [SODA'16]. A multimode shortest path is the shortest path using one of multiple…
Let $S$ be a complete flat surface, such as the Euclidean plane. We obtain direct characterizations of the connected components of the space of all curves on $S$ which start and end at given points in given directions, and whose curvatures…
Let $A$ and $B$ be disjoint sets, of size $2^k$, of vertices of $Q_n$, the $n$-dimensional hypercube. In 1997, Bollob\'as and Leader proved that there must be $(n-k)2^k$ edge-disjoint paths between such $A$ and $B$. They conjectured that…
A bounded curvature path is a continuously differentiable piecewise $C^2$ path with a bounded absolute curvature that connects two points in the tangent bundle of a surface. In this work, we analyze the homotopy classes of bounded curvature…
A fundamental problem in computational geometry is to compute an obstacle-avoiding Euclidean shortest path between two points in the plane. The case of this problem on polygonal obstacles is well studied. In this paper, we consider the…
In this paper, we study how to find rational motions that move a line along a given rational ruled surface. Our goal is to find motions with the lowest possible degree using dual quaternions. While similar problems for point trajectories…
Directed paths have been used extensively in the scientific literature as a model of a linear polymer. Such paths models in particular the conformational entropy of a linear polymer and the effects it has on the free energy. These directed…
In this paper we consider the problem of reconstructing a curve that is partially hidden or corrupted by minimizing the functional $\int \sqrt{1+K_\gamma^2} ds$, depending both on length and curvature $K$. We fix starting and ending points…
We introduce the following notion: a digraph $D=(V,A)$ with arc weights $c: A\rightarrow \R$ is called nearly conservative if every negative cycle consists of two arcs. Computing shortest paths in nearly conservative digraphs is NP-hard,…
We provide an account for the existence and uniqueness of solutions to rough differential equations under the framework of controlled rough paths. The case when the driving path is $\beta$-H\"older continuous, for $\beta>1/3$, is widely…
We present a new pipelined approach to compute all pairs shortest paths (APSP) in a directed graph with nonnegative integer edge weights (including zero weights) in the CONGEST model in the distributed setting. Our deterministic distributed…
The circuits of a polyhedron are a superset of its edge directions. Circuit walks, a sequence of steps along circuits, generalize edge walks and are "short" if they have few steps or small total length. Both interpretations of short are…