Related papers: Optimal Time-Convex Hull under the Lp Metrics
Let $P$ be a set of $n$ points in the plane. We consider the problem of partitioning $P$ into two subsets $P_1$ and $P_2$ such that the sum of the perimeters of $\text{CH}(P_1)$ and $\text{CH}(P_2)$ is minimized, where $\text{CH}(P_i)$…
We propose a new model-free method to detect change points between distinct phases in a single random trajectory of an intermittent stochastic process. The local convex hull (LCH) is constructed for each trajectory point, while its…
We propose a new algorithm for approximating the metric projection onto a superelliptic disk of order $p>1$, i.e., the convex hull of a superellipse (Lam\'e curve), and prove its convergence.
This paper studies the time-optimal path tracking problem for a team of cooperating robotic manipulators carrying an object. Considering the problem for rigidly grasped objects, we show that it can be cast as a convex optimization problem…
Extending results of Hershberger and Suri for the Euclidean plane, we show that ball hulls and ball intersections of sets of $n$ points in strictly convex normed planes can be constructed in $O(n \log n)$ time. In addition, we confirm that,…
Increasing popularity of mobile route planning applications based on GPS technology provides opportunities for collecting traffic data in urban environments. One of the main challenges for travel time estimation and prediction in such a…
We address the problem of optimal path planning for a simple nonholonomic vehicle in the presence of obstacles. Most current approaches are either split hierarchically into global path planning and local collision avoidance, or neglect some…
A {\em convex hole} (or {\em empty convex polygon)} of a point set $P$ in the plane is a convex polygon with vertices in $P$, containing no points of $P$ in its interior. Let $R$ be a bounded convex region in the plane. We show that the…
A planar point set is in convex position precisely when it has a convex polygonization, that is, a polygonization with maximum interior angle measure at most \pi. We can thus talk about the convexity of a set of points in terms of the…
Travel time estimation is a critical task, useful to many urban applications at the individual citizen and the stakeholder level. This paper presents a novel hybrid algorithm for travel time estimation that leverages historical and sparse…
Presented is a new method for calculating the time-optimal guidance control for a multiple vehicle pursuit-evasion system. A joint differential game of k pursuing vehicles relative to the evader is constructed, and a Hamilton-Jacobi-Isaacs…
Taking the convex hull of a curve is a natural construction in computational geometry. On the other hand, path signatures, central in stochastic analysis, capture geometric properties of curves, although their exact interpretation for…
In this paper we address the speed planning problem for a vehicle along a predefined path. A weighted average of two (conflicting) terms, energy consumption and travel time, is minimized. After deriving a non-convex mathematical model of…
This paper presents a modeling and optimization framework to compute the minimum-lap-time spatial trajectory and powertrain operation of racing cars in a computationally efficient fashion. Specifically, we first derive a quasi-steady-state…
A hotspot of a moving entity is a region in which it spends a significant amount of time. Given the location of a moving object through a certain time interval, i.e. its trajectory, our goal is to find its hotspots. We consider…
In an ordinary feature selection procedure, a set of important features is obtained by solving an optimization problem such as the Lasso regression problem, and we expect that the obtained features explain the data well. In this study,…
The betweenness centrality of a vertex v is an important centrality measure that quantifies how many optimal paths between pairs of other vertices visit v. Computing betweenness centrality in a temporal graph, in which the edge set may…
This paper presents an integrated approach for efficient path planning and energy management in hybrid unmanned aerial vehicles (HUAVs) equipped with dual fuel-electric propulsion systems. These HUAVs operate in environments that include…
This paper addresses the problem of planning time-optimal trajectories for multiple cooperative agents along specified paths through a static road network. Vehicle interactions at intersections create non-trivial decisions, with complex…
Let $G=(V,E,w)$ be a weighted directed graph without negative cycles. For two vertices $s,t\in V$, we let $d_{\le h}(s,t)$ be the minimum, according to the weight function $w$, of a path from $s$ to $t$ that uses at most $h$ edges, or hops.…