Related papers: Optimal online escape path against a certificate
Navigating an environment with uncertain connectivity requires a strategic balance between minimizing the cost of traversal and seeking information to resolve map ambiguities. Unlike previous approaches that rely on local sensing, we…
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…
We propose a new proximal, path-following framework for a class of constrained convex problems. We consider settings where the nonlinear---and possibly non-smooth---objective part is endowed with a proximity operator, and the constraint set…
Navigation tasks often cannot be defined in terms of a target, either because global position information is unavailable or unreliable or because target location is not explicitly known a priori. This task is then often defined indirectly…
On-line motion planning in unknown environments is a challenging problem as it requires (i) ensuring collision avoidance and (ii) minimizing the motion time, while continuously predicting where to go next. Previous approaches to on-line…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
This paper examines the degree to which an evader seeking a safe and efficient path to a target location can benefit from increasing levels of knowledge regarding one or more range-limited pursuers seeking to intercept it. Unlike previous…
Paths are important structural elements in complex networks because they are finite (unlike walks), related to effective node coverage (minimum spanning trees), and can be understood as being dual to star connectivity. This article…
We investigate the problem of finding paths that enable a robot modeled as a Dubins car (i.e., a constant-speed finite-turn-rate unicycle) to escape from a circular region of space in minimum time. This minimum-time escape problem arises in…
High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the operating environment is obtained. The requirement of…
We present a biologically inspired approach for path planning with dynamic obstacle avoidance. Path planning is performed in a condensed configuration space of a robot generated by self-organizing neural networks (SONN). The robot itself…
Indoor navigation systems leverage shortest path algorithms to calculate routes. In order to define the "shortest path", a cost function has to be specified based on theories and heuristics in the application domain. For the domain of…
Online motion planning is a challenging problem for intelligent robots moving in dense environments with dynamic obstacles, e.g., crowds. In this work, we propose a novel approach for optimal and safe online motion planning with minimal…
A prey animal surveying its environment must decide whether there is a dangerous predator present or not. If there is, it may flee. Flight has an associated cost, so the animal should not flee if there is no danger. However, the prey animal…
This article studies the time-optimal path planning problem for a convexified Reeds-Shepp (CRS) vehicle on a unit sphere, capable of both forward and backward motion, with speed bounded in magnitude by 1 and turning rate bounded in…
In the fast evacuation problem, we study the path planning problem for two robots who want to minimize the worst-case evacuation time on the unit disk. The robots are initially placed at the center of the disk. In order to evacuate, they…
We introduce a method for efficiently computing the exact shortest path to the boundary of a mesh from a given internal point in the presence of self-intersections. We provide a formal definition of shortest boundary paths for…
Most path planning problems among polygonal obstacles ask to find a path that avoids the obstacles and is optimal with respect to some measure or a combination of measures, for example an $u$-to-$v$ shortest path of clearance at least $c$,…
We consider a pursuit-evasion scenario involving a group of pursuers and a single evader in a two-dimensional unbounded environment. The pursuers aim to capture the evader in finite time while ensuring the evader remains enclosed within the…
Navigating a collision-free and optimal trajectory for a robot is a challenging task, particularly in environments with moving obstacles such as humans. We formulate this problem as a stochastic optimal control problem. Since solving the…