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Optimization has been widely used to generate smooth trajectories for motion planning. However, existing trajectory optimization methods show weakness when dealing with large-scale long trajectories. Recent advances in parallel computing…
We study the problem of computing constrained shortest paths for battery electric vehicles. Since battery capacities are limited, fastest routes are often infeasible. Instead, users are interested in fast routes on which the energy…
Learning-based path planning is becoming a promising robot navigation methodology due to its adaptability to various environments. However, the expensive computing and storage associated with networks impose significant challenges for their…
Safety is extremely important for urban flights of autonomous Unmanned Aerial Vehicles (UAVs). Risk-aware path planning is one of the most effective methods to guarantee the safety of UAVs. This type of planning can be represented as a…
In this paper the computational challenges of time-optimal path following are addressed. The standard approach is to minimize the travel time, which inevitably leads to singularities at zero path speed, when reformulating the optimization…
Routing problems such as Hamiltonian Path Problem (HPP), seeks a path to visit all the vertices in a graph while minimizing the path cost. This paper studies a variant, HPP with Probabilistic Terminals (HPP-PT), where each vertex has a…
Trained humans exhibit highly agile spatial skills, enabling them to operate vehicles with complex dynamics in demanding tasks and conditions. Prior work shows that humans achieve this performance by using strategies such as satisficing,…
In this paper, we propose new techniques for solving geometric optimization problems involving interpoint distances of a point set in the plane. Given a set $P$ of $n$ points in the plane and an integer $1 \leq k \leq \binom{n}{2}$, the…
An efficient algorithm to solve the $k$ shortest non-homotopic path planning ($k$-SNPP) problem in a 2D environment is proposed in this paper. Motivated by accelerating the inefficient exploration of the homotopy-augmented space of the 2D…
Finding the shortest path between two points in a graph is a fundamental problem that has been well-studied over the past several decades. Shortest path algorithms are commonly applied to modern navigation systems, so our study aims to…
We investigate the problem of computing a minimum set of solutions that approximates within a specified accuracy $\epsilon$ the Pareto curve of a multiobjective optimization problem. We show that for a broad class of bi-objective problems…
Given a set of pairwise disjoint polygonal obstacles in the plane, finding an obstacle-avoiding Euclidean shortest path between two points is a classical problem in computational geometry and has been studied extensively. Previously,…
We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
Multi-robot path finding in dynamic environments is a highly challenging classic problem. In the movement process, robots need to avoid collisions with other moving robots while minimizing their travel distance. Previous methods for this…
Stochastic sequential decision making often requires hierarchical structure in the problem where each high-level action should be further planned with primitive states and actions. In addition, many real-world applications require a plan…
We study real-time routing policies in smart transit systems, where the platform has a combination of cars and high-capacity vehicles (e.g., buses or shuttles) and seeks to serve a set of incoming trip requests. The platform can use its…
This paper addresses the challenges of decision-making for autonomous vehicles under faults during a transport mission. A real-time decision-making problem of vehicle routing planning considering maintenance management is formulated as an…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
The dynamic shortest paths problem on planar graphs asks us to preprocess a planar graph $G$ such that we may support insertions and deletions of edges in $G$ as well as distance queries between any two nodes $u,v$ subject to the constraint…