Related papers: Grid-based angle-constrained path planning
Path planning is a major problem in autonomous vehicles. In recent years, with the increase in applications of Unmanned Aerial Vehicles (UAVs), one of the main challenges is path planning, particularly in adversarial environments. In this…
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…
Motion planning framed as optimisation in structured latent spaces has recently emerged as competitive with traditional methods in terms of planning success while significantly outperforming them in terms of computational speed. However,…
There are many different heuristic algorithms for solving combinatorial optimization problems that are commonly described as Nature-Inspired Algorithms (NIAs). Generally, they are inspired by some natural phenomenon, and due to their…
In this work, we introduce a new graph search algorithm, lazy edged based A* (LEA*), for robot motion planning. By using an edge queue and exploiting the idea of lazy search, LEA* is optimally vertex efficient similar to A*, and has…
Path planning in grid maps, arising from various applications, has garnered significant attention. Existing methods, such as A*, Dijkstra, and their variants, work well for small-scale maps but fail to address large-scale ones due to high…
Sampling-based motion-planning algorithms typically rely on nearest-neighbor (NN) queries when constructing a roadmap. Recent results suggest that in various settings NN queries may be the computational bottleneck of such algorithms.…
The detection of curved lanes is still challenging for autonomous driving systems. Although current cutting-edge approaches have performed well in real applications, most of them are based on strict model assumptions. Similar to other…
Learning-based methods are increasingly popular for search algorithms in single-criterion optimization problems. In contrast, for multiple-criteria optimization there are significantly fewer approaches despite the existence of numerous…
Navigation is one of the most widely used applications of the Location Based Services (LBS) which have become part of our digitally informed daily lives. Navigation services, however, have generally been designed for drivers rather than…
Real-world path planning tasks typically involve multiple constraints beyond simple route optimization, such as the number of routes, maximum route length, depot locations, and task-specific requirements. Traditional approaches rely on…
In this paper, a new metaheuristic optimization algorithm, called Path Construction Imitation Algorithm (PCIA), is proposed. PCIA is inspired by how humans construct new paths and use them. Typically, humans prefer popular transportation…
We present a fast algorithm for the design of smooth paths (or trajectories) that are constrained to lie in a collection of axis-aligned boxes. We consider the case where the number of these safe boxes is large, and basic preprocessing of…
The ubiquitous expansion and transformation of the energy supply system involves large-scale power infrastructure construction projects. In the view of investments of more than a million dollars per kilometre, planning authorities aim to…
Path planning is an important component in any highly automated vehicle system. In this report, the general problem of path planning is considered first in partially known static environments where only static obstacles are present but the…
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…
We show a new method for collision-free path planning by cGANs by mapping its latent space to only the collision-free areas of the robot joint space. Our method simply provides this collision-free latent space after which any planner, using…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
Robots operate in environments with varying implicit structure. For instance, a helicopter flying over terrain encounters a very different arrangement of obstacles than a robotic arm manipulating objects on a cluttered table top.…
Path planning is a key component in motion planning for autonomous vehicles. A path specifies the geometrical shape that the vehicle will travel, thus, it is critical to safe and comfortable vehicle motions. For urban driving scenarios,…