Related papers: On the Structure of the Time-Optimal Path Paramete…
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…
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…
The Traveling Thief Problem (TTP) is a multi-component optimization problem that captures the interplay between routing and packing decisions by combining the classical Traveling Salesperson Problem (TSP) and the Knapsack Problem (KP). The…
The steady development of motor vehicle technology will enable cars of the near future to assume an ever increasing role in the decision making and control of the vehicle itself. In the foreseeable future, cars will have the ability to…
The Capacitated Vehicle Routing Problem (CVRP) is a core NP-hard problem in the field of combinatorial optimization. It aims to plan optimal routes for a fleet of vehicles with uniform capacity, serving a set of customers with specific…
This paper introduces the correlated arc orienteering problem (CAOP), where the task is to find routes for a team of robots to maximize the collection of rewards associated with features in the environment. These features can be…
The betweenness centrality of a vertex v is an important centrality measure that quantifies how many optimal paths between pairs of other vertices visit v. Computing betweenness centrality in a temporal graph, in which the edge set may…
We consider a monotone submodular maximization problem whose constraint is described by a logic formula on a graph. Formally, we prove the following three `algorithmic metatheorems.' (1) If the constraint is specified by a monadic…
The matching of multiple objects (e.g. shapes or images) is a fundamental problem in vision and graphics. In order to robustly handle ambiguities, noise and repetitive patterns in challenging real-world settings, it is essential to take…
A number of problems in relational Artificial Intelligence can be viewed as Stochastic Constraint Optimization Problems (SCOPs). These are constraint optimization problems that involve objectives or constraints with a stochastic component.…
Finding, counting and/or listing triangles (three vertices with three edges) in large graphs are natural fundamental problems, which received recently much attention because of their importance in complex network analysis. We provide here a…
In many applications, including underwater robotics, the coverage problem requires an autonomous vehicle to systematically explore a defined area while minimizing redundancy and avoiding obstacles. This paper investigates coverage path…
Tensor networks represent the state-of-the-art in computational methods across many disciplines, including the classical simulation of quantum many-body systems and quantum circuits. Several applications of current interest give rise to…
We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…
We present an algorithm for planning trajectories that avoid obstacles and satisfy key-door precedence specifications expressed with a fragment of signal temporal logic. Our method includes a novel exact convex partitioning of the obstacle…
The subject of this work is the patrolling of an environment with the aid of a team of autonomous agents. We consider both the design of open-loop trajectories with optimal properties, and of distributed control laws converging to optimal…
This paper addresses the advancements in on-road trajectory planning for Autonomous Passenger Vehicles (APV). Trajectory planning aims to produce a globally optimal route for APVs, considering various factors such as vehicle dynamics,…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In Part I, we presented the mathematical…
We introduce an alternative approach for the analysis and numerical approximation of the optimal feedback control mapping. It consists in looking at a typical optimal control problem in such a way that feasible controls are mappings…
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…