Related papers: Robust Shortest Path Planning and Semicontractive …
The shortest path problem is among the most fundamental combinatorial optimization problems to answer reachability queries. It is hard to deter-mine which vertices or edges are visited during shortest path traversals. In this paper, we…
Planning for Autonomous Unmanned Ground Vehicles (AUGV) is still a challenge, especially in difficult, off-road, critical situations. Automatic planning can be used to reach mission objectives, to perform navigation or maneuvers. Most of…
Considering a graph with unknown weights, can we find the shortest path for a pair of nodes if we know the minimal Steiner trees associated with some subset of nodes? That is, with respect to a fixed latent decision-making system (e.g., a…
This paper investigates the problem of computing the shortest path between two states under resource constraints in environments with resource-replenishment regions. Namely, the length of the path is limited by a budget that can be restored…
We provide a unifying framework for distributed convex optimization over time-varying networks, in the presence of constraints and uncertainty, features that are typically treated separately in the literature. We adopt a proximal…
A long series of recent results and breakthroughs have led to faster and better distributed approximation algorithms for single source shortest paths (SSSP) and related problems in the CONGEST model. The runtime of all these algorithms,…
The shortest path problem in graphs is a cornerstone of AI theory and applications. Existing algorithms generally ignore edge weight computation time. We present a generalized framework for weighted directed graphs, where edge weight can be…
Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms…
In this paper, we look into the minimum obstacle displacement (MOD) planning problem from a mobile robot motion planning perspective. This problem finds an optimal path to goal by displacing movable obstacles when no path exists due to…
We study an optimal control problem in which both the objective function and the dynamic constraint contain an uncertain parameter. Since the distribution of this uncertain parameter is not exactly known, the objective function is taken as…
Computing a shortest path between two nodes in an undirected unweighted graph is among the most basic algorithmic tasks. Breadth first search solves this problem in linear time, which is clearly also a lower bound in the worst case.…
Digital twins and other simulators are increasingly used to support routing decisions in large-scale networks. However, simulator outputs often exhibit systematic bias, while ground-truth measurements are costly and scarce. We study a…
This paper discusses the shortest path problem in a general directed graph with $n$ nodes and $K$ cost scenarios (objectives). In order to choose a solution, the min-max criterion is applied. The min-max version of the problem is hard to…
We study the replacement paths problem in the $\mathsf{CONGEST}$ model of distributed computing. Given an $s$-$t$ shortest path $P$, the goal is to compute, for every edge $e$ in $P$, the shortest-path distance from $s$ to $t$ avoiding $e$.…
Minimax optimization has been central in addressing various applications in machine learning, game theory, and control theory. Prior literature has thus far mainly focused on studying such problems in the continuous domain, e.g.,…
Balancing the trade-off between safety and efficiency is of significant importance for path planning under uncertainty. Many risk-aware path planners have been developed to explicitly limit the probability of collision to an acceptable…
Dynamic routing is one of the representative control scheme in transportation, production lines, and data transmission. In the modern context of connectivity and autonomy, routing decisions are potentially vulnerable to malicious attacks.…
In this article, we discuss two algorithms tailored to discrete-time deterministic finite-horizon nonlinear optimal control problems or so-called deterministic trajectory optimization problems. Both algorithms can be derived from an…
We propose an algorithm for solving the time-dependent shortest path problem in flow fields where the FIFO (first-in-first-out) assumption is violated. This problem variant is important for autonomous vehicles in the ocean, for example,…
The recently-proposed generic Dijkstra algorithm finds shortest paths in networks with continuous and contiguous resources. While the algorithm was proposed in the context of optical networks (and is applicable to other networks with finite…