Related papers: On Efficient Computation of Shortest Dubins Paths …
We study the problem of optimal multi-robot path planning on graphs (MPP) over four distinct minimization objectives: the total arrival time, the makespan (last arrival time), the total distance, and the maximum (single-robot traveled)…
Fixed-wing small uncrewed aerial vehicles (sUAVs) possess the capability to remain airborne for extended durations and traverse vast distances. However, their operation is susceptible to wind conditions, particularly in regions of complex…
This paper presents a new method to generate tool paths for machining freeform surfaces represented either as parametric surfaces or as triangular meshes. This method allows for the optimal tradeoff between the preferred feed direction…
A turn constrained vehicle is initially located inside a polygon region and desires to escape in minimum time. First, the method of characteristics is used to describe the time-optimal strategies for reaching a line of infinite length.…
Consider two elements in the tangent bundle of the Euclidean plane $(x,X),(y,Y)\in T{\mathbb R}^2$. In this work we address the problem of characterizing the paths of bounded curvature and minimal length starting at $x$, finishing at $y$…
Efficient trajectory optimization is essential for avoiding collisions in unstructured environments, but it remains challenging to have both speed and quality in the solutions. One reason is that second-order optimality requires calculating…
We study the path planning problem for continuum-arm robots, in which we are given a starting and an end point, and we need to compute a path for the tip of the continuum arm between the two points. We consider both cases where obstacles…
We propose a novel B-spline trajectory optimization method for autonomous racing. We consider the unavailability of sophisticated race car and race track dynamics in early-stage autonomous motorsports development and derive methods that…
In this paper we consider a set of travelers, starting from likely different locations towards a common destination within a road network, and propose solutions to find the optimal connecting points for them. A connecting point is a vertex…
We propose a novel centralized and decoupled algorithm, DDM, for solving multi-robot path planning problems in grid graphs, targeting on-demand and automated warehouse-like settings. Two settings are studied: a traditional one whose…
We describe a randomized algorithm that, given a set $P$ of points in the plane, computes the best location to insert a new point $p$, such that the Delaunay triangulation of $P\cup\{p\}$ has the largest possible minimum angle. The expected…
In order to deal with the high development time of exact and approximation algorithms for NP-hard combinatorial optimisation problems and the high running time of exact solvers, deep learning techniques have been used in recent years as an…
This paper addresses the problem of finding shortest paths homotopic to a given disjoint set of paths that wind amongst point obstacles in the plane. We present a faster algorithm than previously known.
The most important aim in tool path generation methods is to increase the machining efficiency by minimizing the total length of tool paths while the error is kept under a prescribed tolerance. This can be achieved by determining the moving…
This paper presents a novel learning approach for Dubins Traveling Salesman Problems(DTSP) with Neighborhood (DTSPN) to quickly produce a tour of a non-holonomic vehicle passing through neighborhoods of given task points. The method…
We address the problem of controlling a stochastic version of a Dubins vehicle such that the probability of satisfying a temporal logic specification over a set of properties at the regions in a partitioned environment is maximized. We…
In this paper we consider shortest path problems in a directed graph where the transitions between nodes are subject to uncertainty. We use a minimax formulation, where the objective is to guarantee that a special destination state is…
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…
Vehicle trajectory optimization is essential to ensure vehicles travel efficiently and safely. This paper presents an infrastructure assisted constrained connected automated vehicles (CAVs) trajectory optimization method on curved roads.…
The specific objective of this paper is to develop a tool that calculates the optimal trajectory of the follower aircraft as it completes a formation rejoin, and then maintains the formation position, defined as a ring of points, until a…