Related papers: Discrete Dubins Paths
Given a directed graph, we show how to efficiently find a shortest (directed, simple) cycle on an even number of vertices. As far as we know, no polynomial-time algorithm was previously known for this problem. In fact, finding any even…
Shortest path algorithms have played a key role in the past century, paving the way for modern day GPS systems to find optimal routes along static systems in fractions of a second. One application of these algorithms includes optimizing the…
This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that assume unbounded control inputs or handle saturation…
Given a graph, the shortest-path problem requires finding a sequence of edges with minimum cumulative length that connects a source vertex to a target vertex. We consider a variant of this classical problem in which the position of each…
In this paper we consider shortest path problems in a directed graph where the transitions between nodes are subject to uncertainty. We use a minimax formulation, where the objective is to guarantee that a special destination state is…
We consider a single non-holonomic Dubins-like robot traveling with a constant longitudinal speed in an a priori unknown and unsteady planar environment. The robot should detect, locate, and track the boundary of a dynamic environmental…
This work develops feasible path trajectories for a coordinated strike with multiple aircraft in a constrained environment. Using direct orthogonal collocation methods, the two-point boundary value optimal control problem is transcribed…
In an article published in 1987 in Combinatorica \cite{MR918397}, Frieze and Jackson established a lower bound on the length of the longest induced path (and cycle) in a sparse random graph. Their bound is obtained through a rough analysis…
We study longest and shortest directed paths in the following natural model of directed random planar maps: the uniform infinite bipolar-oriented triangulation (UIBOT), which is the local limit of uniform bipolar-oriented triangulations…
Given a directed graph of nodes and edges connecting them, a common problem is to find the shortest path between any two nodes. Here we show that the shortest path distances can be found by a simple matrix inversion: If the edges are given…
Shortest path computation is a fundamental problem in road networks. However, in many real-world scenarios, determining solely the shortest path is not enough. In this paper, we study the problem of finding k-Dissimilar Paths with Minimum…
We introduce a new balanced separator theorem for unit-disk graphs involving two shortest paths combined with the 1-hop neighbours of those paths and two other vertices. This answers an open problem of Yan, Xiang and Dragan [CGTA '12] and…
We give a polynomial-time algorithm that, with input a graph $G$ and two vertices $u,v$ of $G$, decides whether there is an induced $uv$-path that is longer than the shortest $uv$-path.
A method for trajectory smoothing for UAV reference path planning is presented. It is derived based on the dynamics of a Dubins airplane model, and involves a decoupling step, spatial modeling and linear programming. The decoupling step…
Let G be an edge weighted undirected graph. For every pair of nodes consider the shortest cycle containing these nodes in G. The cycle diameter of G is the maximum length of a cycle in this set. Let H be a directed graph obtained by…
Nowadays, high-speed machining is usually used for production of hardened material parts with complex shapes such as dies and molds. In such parts, tool paths generated for bottom machining feature with the conventional parallel plane…
Computing shortest paths is one of the central problems in the theory of distributed computing. For the last few years, substantial progress has been made on the approximate single source shortest paths problem, culminating in an algorithm…
Minimum cuts have been closely related to shortest paths in planar graphs via planar duality - so long as the graphs are undirected. Even maximum flows are closely related to shortest paths for the same reason - so long as the source and…
We study the 2-Disjoint Shortest Paths (2-DSP) problem: given a directed weighted graph and two terminal pairs $(s_1,t_1)$ and $(s_2,t_2)$, decide whether there exist vertex-disjoint shortest paths between each pair. Building on recent…
Let $G$ be a directed graph with $n$ vertices and $m$ edges, embedded on a surface $S$, possibly with boundary, with first Betti number $\beta$. We consider the complexity of finding closed directed walks in $G$ that are either contractible…