Related papers: Discrete Dubins Paths
Rapidly exploring random trees (RRTs) have proven effective in quickly finding feasible solutions to complex motion planning problems. RRT* is an extension of the RRT algorithm that provides probabilistic asymptotic optimality guarantees…
The dynamical discrete web is a system of one-dimensional coalescing random walks that evolves in an extra dynamical time parameter. At any deterministic dynamical time, the paths behave as coalescing simple symmetric random walks. This…
The enumeration of shortest paths in cubic grid is presented herein, which could have importance in image processing and also in the network sciences. The cubic grid considers three neighborhoods - namely, 6-, 18- and 26-neighborhood…
There is a growing demand for autonomous mobile robots capable of navigating unstructured agricultural environments. Tasks such as weed control in meadows require efficient path planning through an unordered set of coordinates while…
The combinatorial diameter $\operatorname{diam}(P)$ of a polytope $P$ is the maximum shortest path distance between any pair of vertices. In this paper, we provide upper and lower bounds on the combinatorial diameter of a random "spherical"…
Trajectory planning is commonly used as part of a local planner in autonomous driving. This paper considers the problem of planning a continuous-curvature-rate trajectory between fixed start and goal states that minimizes a tunable…
In this article, I provide significant mathematical evidence in support of the existence of short-time approximations of any polynomial order for the computation of density matrices of physical systems described by arbitrarily smooth and…
The diameter of a graph is the maximum distance between pairs of vertices in the graph. A pair of vertices whose distance is equal to its diameter are called diametrically opposite vertices. The collection of shortest paths between…
The search is based on the preliminary transformation of matrices or adjacency lists traditionally used in the study of graphs into projections cleared of redundant information (refined) followed by the selection of the desired shortest…
Given an undirected graph and two disjoint vertex pairs $s_1,t_1$ and $s_2,t_2$, the Shortest two disjoint paths problem (S2DP) asks for the minimum total length of two vertex disjoint paths connecting $s_1$ with $t_1$, and $s_2$ with…
Planning problems are hard, motion planning, for example, isPSPACE-hard. Such problems are even more difficult in the presence of uncertainty. Although, Markov Decision Processes (MDPs) provide a formal framework for such problems, finding…
In this paper, we show new data structures maintaining approximate shortest paths in sparse directed graphs with polynomially bounded non-negative edge weights under edge insertions. We give more efficient incremental…
Let $\Omega$ be a connected open set in the plane and $\gamma: [0,1] \to \overline{\Omega}$ a path such that $\gamma((0,1)) \subset \Omega$. We show that the path $\gamma$ can be ``pulled tight'' to a unique shortest path which is homotopic…
We study the problem of finding, in a directed graph, an st-walk of length r mod q which is edge-minimum, i.e., uses the smallest number of distinct edges. Despite the vast literature on paths and cycles with modularity constraints, to the…
In this study we consider the shortest path problem, where the arc costs are subject to distributional uncertainty. Basically, the decision-maker attempts to minimize her worst-case expected loss over an ambiguity set (or a family) of…
The Shortest Path Reconfiguration problem has as input a graph G (with unit edge lengths) with vertices s and t, and two shortest st-paths P and Q. The question is whether there exists a sequence of shortest st-paths that starts with P and…
We revisit the minimum-link path problem: Given a polyhedral domain and two points in it, connect the points by a polygonal path with minimum number of edges. We consider settings where the vertices and/or the edges of the path are…
Motivated by the problem of bounding the number of iterations of the Simplex algorithm we investigate the possible lengths of monotone paths followed by the Simplex method inside the oriented graphs of polyhedra (oriented by the objective…
We consider robust shortest path problems, where the aim is to find a path that optimizes the worst-case performance over an uncertainty set containing all relevant scenarios for arc costs. The usual approach for such problems is to assume…
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.…