Related papers: Reduced Complexity Multi-Scale Path-Planning on Pr…
With the pervasiveness of Stochastic Shortest-Path (SSP) problems in high-risk industries, such as last-mile autonomous delivery and supply chain management, robust planning algorithms are crucial for ensuring successful task completion…
Fast, autonomous flight in unstructured, cluttered environments such as forests is challenging because it requires the robot to compute new plans in realtime on a computationally-constrained platform. In this paper, we enable this…
For multi-vehicle complex traffic scenarios in shared spaces such as intelligent intersections, safe coordination and trajectory planning is challenging due to computational complexity. To meet this challenge, we introduce a computationally…
During the last decade, sampling-based path planning algorithms, such as Probabilistic RoadMaps (PRM) and Rapidly-exploring Random Trees (RRT), have been shown to work well in practice and possess theoretical guarantees such as…
The knapsack problem (KP) and its multidimensional version (MKP) are basic problems in combinatorial optimization. In this paper we consider their multiobjective extension (MOKP and MOMKP), for which the aim is to obtain or to approximate…
In this paper, we study the MapReduce framework from an algorithmic standpoint and demonstrate the usefulness of our approach by designing and analyzing efficient MapReduce algorithms for fundamental sorting, searching, and simulation…
We present Fast Approximate Minimum Spanning Tree (FAMST), a novel algorithm that addresses the computational challenges of constructing Minimum Spanning Trees (MSTs) for large-scale and high-dimensional datasets. FAMST utilizes a…
Given a reference set $R$ of $n$ points and a query set $Q$ of $m$ points in a metric space, this paper studies an important problem of finding $k$-nearest neighbors of every point $q \in Q$ in the set $R$ in a near-linear time. In the…
Robots often need to solve path planning problems where essential and discrete aspects of the environment are partially observable. This introduces a multi-modality, where the robot must be able to observe and infer the state of its…
Distributed processing frameworks, such as MapReduce, Hadoop, and Spark are popular systems for processing large amounts of data. The design of efficient algorithms in these frameworks is a challenging problem, as the systems both require…
We propose a new Pareto Local Search Algorithm for the many-objective combinatorial optimization. Pareto Local Search proved to be a very effective tool in the case of the bi-objective combinatorial optimization and it was used in a number…
Contour trees offer an abstract representation of the level set topology in scalar fields and are widely used in topological data analysis and visualization. However, applying contour trees to large-scale scientific datasets remains…
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…
Coverage path planning is a major application for mobile robots, which requires robots to move along a planned path to cover the entire map. For large-scale tasks, coverage path planning benefits greatly from multiple robots. In this paper,…
During the last decade, incremental sampling-based motion planning algorithms, such as the Rapidly-exploring Random Trees (RRTs) have been shown to work well in practice and to possess theoretical guarantees such as probabilistic…
This article introduces a multimodal motion planning (MMP) algorithm that combines three-dimensional (3-D) path planning and a DWA obstacle avoidance algorithm. The algorithms aim to plan the path and motion of obstacle-overcoming robots in…
Nearest neighbor search supports important applications in many domains, such as database, machine learning, computer vision. Since the computational cost for accurate search is too high, the community turned to the research of approximate…
Deceptive path planning (DPP) is the problem of designing a path that hides its true goal from an outside observer. Existing methods for DPP rely on unrealistic assumptions, such as global state observability and perfect model knowledge,…
Off-road environments present unique challenges for autonomous navigation due to their complex and unstructured nature. Traditional global path-planning methods, which typically aim to minimize path length and travel time, perform poorly on…
We introduce a simple yet effective sampling-based planner that is tailored for bottleneck pathfinding: Given an implicitly-defined cost map $\mathcal{M}:\mathbb{R}^d\rightarrow \mathbb{R}$, which assigns to every point in space a real…