Related papers: A Focal Any-Angle Path-finding Algorithm Based on …
In the Any-Angle Pathfinding problem, the goal is to find the shortest path between a pair of vertices on a uniform square grid, that is not constrained to any fixed number of possible directions over the grid. Visibility Graphs are a known…
Finding the shortest path between two points in a graph is a fundamental problem that has been well-studied over the past several decades. Shortest path algorithms are commonly applied to modern navigation systems, so our study aims to…
Grids with blocked and unblocked cells are often used to represent terrain in robotics and video games. However, paths formed by grid edges can be longer than true shortest paths in the terrain since their headings are artificially…
Vector-based algorithms are novel algorithms in optimal any-angle path planning that are motivated by bug algorithms, bypassing free space by directly conducting line-of-sight checks between two queried points, and searching along obstacle…
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…
This paper introduces a novel, lightweight method to solve the visibility problem for 2D grids. The proposed method evaluates the existence of lines-of-sight from a source point to all other grid cells in a single pass with no preprocessing…
Path planning plays a crucial role in various autonomy applications, and RRT* is one of the leading solutions in this field. In this paper, we propose the utilization of vertex-based networks to enhance the sampling process of RRT*, leading…
The problem of path planning in unknown environments remains a challenging problem - as the environment is gradually observed during the navigation, the underlying planner has to update the environment representation and replan, promptly…
We present a new fast all-pairs shortest path algorithm for unweighted graphs. In breadth-first search which is said to representative and fast in unweighted graphs, the average number of accesses to adjacent vertices (expressed by…
The search is based on the preliminary transformation of matrices or adjacency lists traditionally used in the study of graphs into projections cleared of redundant information (refined) followed by the selection of the desired shortest…
Path finding in graphs is one of the most studied classes of problems in computer science. In this context, search algorithms are often extended with heuristics for a more efficient search of target nodes. In this work we combine recent…
Large graphs are difficult to represent, visualize, and understand. In this paper, we introduce "gate graph" - a new approach to perform graph simplification. A gate graph provides a simplified topological view of the original graph.…
A visibility algorithm maps time series into complex networks following a simple criterion. The resulting visibility graph has recently proven to be a powerful tool for time series analysis. However its straightforward computation is…
Autonomous vehicle navigation in structured environments requires planners capable of generating time-optimal, collision-free trajectories that satisfy dynamic and kinematic constraints. We introduce V*, a graph-based motion planner that…
Heuristic search algorithms, e.g. A*, are the commonly used tools for pathfinding on grids, i.e. graphs of regular structure that are widely employed to represent environments in robotics, video games etc. Instance-independent heuristics…
This paper presents a novel method for real-time 3D navigation in large-scale, complex environments using a hierarchical 3D visibility graph (V-graph). The proposed algorithm addresses the computational challenges of V-graph construction…
Path planning for wheeled mobile robots is a critical component in the field of automation and intelligent transportation systems. Car-like vehicles, which have non-holonomic constraints on their movement capability impose additional…
The graph matching optimization problem is an essential component for many tasks in computer vision, such as bringing two deformable objects in correspondence. Naturally, a wide range of applicable algorithms have been proposed in the last…
Conventional local planners frequently become trapped in a locally optimal trajectory, primarily due to their inability to traverse obstacles. Having a larger number of topologically distinctive paths increases the likelihood of finding the…
We consider large-scale, implicit-search-based solutions to Shortest Path Problems on Graphs of Convex Sets (GCS). We propose GCS*, a forward heuristic search algorithm that generalizes A* search to the GCS setting, where a…