Related papers: An Approximation Algorithm for a Shortest Dubins P…
Path planning is important for the autonomy of Unmanned Aerial Vehicle (UAV), especially for scheduling UAV delivery. However, the operating environment of UAVs is usually uncertain and dynamic. Without proper planning, collisions may…
A Dubins path is a shortest path with bounded curvature. The seminal result in non-holonomic motion planning is that (in the absence of obstacles) a Dubins path consists either from a circular arc followed by a segment followed by another…
Given two locations $s$ and $t$ in a road network, a distance query returns the minimum network distance from $s$ to $t$, while a shortest path query computes the actual route that achieves the minimum distance. These two types of queries…
This letter aims to present a novel approach for unmanned aerial vehicles (UAV)' path planning with respect to certain quality of service requirements. More specifically, we study the max-min fairness problem in an air-to-ground…
This paper presents an enhanced direct-method-based approach for the real-time solution of optimal control problems to handle path constraints, such as obstacles. The principal contributions of this work are twofold: first, the existing…
In this paper, we propose a new modeling approach and a fast algorithm for 3D motion planning, applicable for fixed-wing unmanned aerial vehicles. The goal is to construct the shortest path connecting given initial and final configurations…
The Capacitated Location Routing Problem is an important planning and routing problem in logistics, which generalizes the capacitated vehicle routing problem and the uncapacitated facility location problem. In this problem, we are given a…
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…
Rapidly generating an optimal chasing motion of a drone to follow a dynamic target among obstacles is challenging due to numerical issues rising from multiple conflicting objectives and non-convex constraints. This study proposes to resolve…
We address the point-to-face approximate shortest path problem in R: Given a set of polyhedral obstacles with a total of n vertices, a source point s, an obstacle face f, and a real positive parameter epsilon, compute a path from s to f…
The Multiple Drone-Delivery Scheduling Problem (MDSP) is a scheduling problem that optimizes the maximum reward earned by a set of $m$ drones executing a sequence of deliveries on a truck delivery route. The current best-known approximation…
We consider the problem of tracking $n$ targets in the plane using $2n$ cameras. We can use two cameras to estimate the location of a target. We are then interested in forming $n$ camera pairs where each camera belongs to exactly one pair,…
In the Distance-constrained Vehicle Routing Problem (DVRP), we are given a graph with integer edge weights, a depot, a set of $n$ terminals, and a distance constraint $D$. The goal is to find a minimum number of tours starting and ending at…
The Single-Source Shortest Path (SSSP) problem is well-known for the challenges in developing fast, practical, and work-efficient parallel algorithms. This work introduces a novel shortest path search method. It allows paths with different…
The problem of providing meaningful routing directions over road networks is of great importance. In many real-life cases, the fastest route may not be the ideal choice for providing directions in written, spoken text, or for an unfamiliar…
The quadratic shortest path problem is the problem of finding a path in a directed graph such that the sum of interaction costs over all pairs of arcs on the path is minimized. We derive several semidefinite programming relaxations for the…
Surveillance applications require a collection of heterogeneous vehicles to visit a set of targets. In this article, we consider a fundamental routing problem that arises in these applications involving two vehicles. Specifically, we…
The paper presents a two-stage stochastic program to model a routing problem involving an Unmanned Aerial Vehicle (UAV) in the context of patrolling missions. In particular, given a set of targets and a set of supplemental targets…
The purpose of this work is to introduce and characterize the Bounded Acceleration Shortest Path (BASP) problem, a generalization of the Shortest Path (SP) problem. This problem is associated to a graph: the nodes represent positions of a…
The two-watchman route problem is that of computing a pair of closed tours in an environment so that the two tours together see the whole environment and some length measure on the two tours is minimized. Two standard measures are: the…