Related papers: An Efficient Algorithm for Computing High-Quality …
We consider the problem of computing shortest paths in a dense motion-planning roadmap $\mathcal{G}$. We assume that~$n$, the number of vertices of $\mathcal{G}$, is very large. Thus, using any path-planning algorithm that directly searches…
We revisit several maximization problems for geometric networks design under the non-crossing constraint, first studied by Alon, Rajagopalan and Suri (ACM Symposium on Computational Geometry, 1993). Given a set of $n$ points in the plane in…
We present subquadratic algorithms in the algebraic decision-tree model for several \textsc{3Sum}-hard geometric problems, all of which can be reduced to the following question: Given two sets $A$, $B$, each consisting of $n$ pairwise…
Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless,…
We consider several combinatorial optimization problems which combine the classic shop scheduling problems, namely open shop scheduling or job shop scheduling, and the shortest path problem. The objective of the obtained problem is to…
We investigate the problem of computing the shortest secure path in a Voronoi diagram. Here, a path is secure if it is a sequence of touching Voronoi cells, where each Voronoi cell in the path has a uniform cost of being secured.…
We consider the standard message passing model; we assume the system is fully synchronous: all processes start at the same time and time proceeds in synchronised rounds. In each round each vertex can transmit a different message of size…
This paper details a new algorithm to solve the shortest path problem in valued graphs. Its complexity is $O(D \log v)$ where $D$ is the graph diameter and $v$ its number of vertices. This complexity has to be compared to the one of the…
We study the Euclidean minimum weight perfect matching problem for $n$ points in the plane. It is known that any deterministic approximation algorithm whose approximation ratio depends only on $n$ requires at least $\Omega(n \log n)$ time.…
We formalize the problem of selecting the optimal set of options for planning as that of computing the smallest set of options so that planning converges in less than a given maximum of value-iteration passes. We first show that the problem…
An obstacle representation of a plane graph G is V(G) together with a set of opaque polygonal obstacles such that G is the visibility graph on V(G) determined by the obstacles. We investigate the problem of computing an obstacle…
We investigate the problem of computing the top-$k$ simple shortest paths in weighted digraphs. While the single-pair variant -- finding the top-$k$ simple shortest paths between two specified vertices -- has been extensively studied over…
Assume we are given a set of parallel line segments in the plane, and we wish to place a point on each line segment such that the resulting point set maximizes or minimizes the area of the largest or smallest triangle in the set. We analyze…
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…
Dijkstra's algorithm is the standard method for computing shortest paths on arbitrary graphs. However, it is slow for large graphs, taking at least linear time. It has been long known that for real world road networks, creating a hierarchy…
This paper studies the problem of enumerating all maximal collinear subsets of size at least three in a given set of $n$ points. An algorithm for this problem, besides solving degeneracy testing and the exact fitting problem, can also help…
Given a directed graph $G$ on $n$ vertices with a special vertex $s$, the directed minimum degree spanning tree problem requires computing a incoming spanning tree rooted at $s$ whose maximum tree in-degree is the smallest among all such…
Consider an undirected weighted graph $G = (V,E,w)$. We study the problem of computing $(1+\epsilon)$-approximate shortest paths for $S \times V$, for a subset $S \subseteq V$ of $|S| = n^r$ sources, for some $0 < r \le 1$. We devise a…
We present a family of fast pseudo-approximation algorithms for the minimum balanced vertex separator problem in a graph. Given a graph $G=(V,E)$ with $n$ vertices and $m$ edges, and a (constant) balance parameter $c\in(0,1/2)$, where $G$…
We study the problem of path planning with soft homology constraints on a surface topologically equivalent to a disk with punctures. Specifically, we propose an algorithm, named $\Hstar$, for the efficient computation of a path homologous…