Related papers: A Focal Any-Angle Path-finding Algorithm Based on …
Graph property detection aims to determine whether a graph exhibits certain structural properties, such as being Hamiltonian. Recently, learning-based approaches have shown great promise by leveraging data-driven models to detect graph…
A* is a classic and popular method for graphs search and path finding. It assumes the existence of a heuristic function $h(u,t)$ that estimates the shortest distance from any input node $u$ to the destination $t$. Traditionally, heuristics…
Neural architecture search enables automation of architecture design. Despite its success, it is computationally costly and does not provide an insight on how to design a desirable architecture. Here we propose a new way of searching neural…
This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…
Graph-based algorithms have demonstrated state-of-the-art performance in the nearest neighbor search (NN-Search) problem. These empirical successes urge the need for theoretical results that guarantee the search quality and efficiency of…
Nearest neighbor search plays a fundamental role in many disciplines such as multimedia information retrieval, data-mining, and machine learning. The graph-based search approaches show superior performance over other types of approaches in…
Realistic path planning applications often require optimizing with respect to several criteria simultaneously. Here we introduce an efficient algorithm for bi-criteria path planning on graphs. Our approach is based on augmenting the state…
We introduce and show preliminary results of a fast randomized method that finds a set of K paths lying in distinct homotopy classes. We frame the path planning task as a graph search problem, where the navigation graph is based on a…
Problem of finding 2D paths of special shape, e.g. paths comprised of line segments having the property that the angle between any two consecutive segments does not exceed the predefined threshold, is considered in the paper. This problem…
We consider the question of speeding up classic graph algorithms with machine-learned predictions. In this model, algorithms are furnished with extra advice learned from past or similar instances. Given the additional information, we aim to…
We propose a new multiple change-point detection framework for multivariate and non-Euclidean data. First, we combine graph-based statistics with wild binary segmentation or seeded binary segmentation to search for a pool of candidate…
An efficient robot path-planning model is vulnerable to the number of search nodes, path cost, and time complexity. The conventional A-star (A*) algorithm outperforms other grid-based algorithms for its heuristic search. However it shows…
Automatic road graph extraction from aerial and satellite images is a long-standing challenge. Existing algorithms are either based on pixel-level segmentation followed by vectorization, or on iterative graph construction using next move…
We revisit the problem of designing sublinear algorithms for estimating the average degree of an $n$-vertex graph. The standard access model for graphs allows for the following queries: sampling a uniform random vertex, the degree of a…
Given a grid terrain T and a viewpoint v, the viewshed of v is the set of grid points of T that are visible from v. To decide whether a point p is visible one needs to interpolate the elevation of the terrain along the line-of-sight vp.…
Active perception is a fundamental problem in autonomous robotics in which the robot must decide where to move and what to sense in order to obtain the most informative observations for accomplishing its mission. Existing approaches either…
We demonstrate that a graph-based search algorithm-relying on the construction of an approximate neighborhood graph-can directly work with challenging non-metric and/or non-symmetric distances without resorting to metric-space mapping…
This paper proposed a novel method for autonomous parking. Autonomous parking has received a lot of attention because of its convenience, but due to the complex environment and the non-holonomic constraints of vehicle, it is difficult to…
Finding shortest paths in a graph is relevant for numerous problems in computer vision and graphics, including image segmentation, shape matching, or the computation of geodesic distances on discrete surfaces. Traditionally, the concept of…
Anytime heuristic search algorithms try to find a (potentially suboptimal) solution as quickly as possible and then work to find better and better solutions until an optimal solution is obtained or time is exhausted. The most widely-known…