Related papers: Minimizing Task Space Frechet Error via Efficient …
Real-time motion planning is a vital function of robotic systems. Different from existing roadmap algorithms which first determine the free space and then determine the collision-free path, researchers recently proposed several convex…
Proximity graph-based methods have emerged as a leading paradigm for approximate nearest neighbor (ANN) search in the system community. This paper presents fresh insights into the theoretical foundation of these methods. We describe an…
The approximate single-source shortest-path problem is as follows: given a graph with nonnegative edge weights and a designated source vertex $s$, return estimates of the distances from~$s$ to each other vertex such that the estimate falls…
We develop new algorithmic techniques for VLSI detailed routing. First, we improve the goal-oriented version of Dijkstra's algorithm to find shortest paths in huge incomplete grid graphs with edge costs depending on the direction and the…
Similarity graphs are an active research direction for the nearest neighbor search (NNS) problem. New algorithms for similarity graph construction are continuously being proposed and analyzed by both theoreticians and practitioners.…
Stochastic optimization algorithms update models with cheap per-iteration costs sequentially, which makes them amenable for large-scale data analysis. Such algorithms have been widely studied for structured sparse models where the sparsity…
An $N$-point FFT admits many valid implementations that differ in radix choice, stage ordering, and register-blocking strategy. These alternatives use different SIMD instruction mixes with different latencies, yet produce the same…
Safe path planning is a crucial component in autonomous robotics. The many approaches to find a collision free path can be categorically divided into trajectory optimisers and sampling-based methods. When planning using occupancy maps, the…
This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…
Automated driving in urban scenarios requires efficient planning algorithms able to handle complex situations in real-time. A popular approach is to use graph-based planning methods in order to obtain a rough trajectory which is…
Currently, state-of-the-art exploration methods maintain high-resolution map representations in order to optimize exploration goals in each step that maximizes information gain. However, during exploring, those "optimal" selections could…
We present an optimal and efficient algorithm for finding a shortest path in an elastic optical network. The algorithm is an adaptation of the Dijkstra shortest path algorithm, where we take into account the spectrum continuity and…
In this paper we consider discrete robot path planning problems on metric graphs. We propose a clustering method, Gamma-Clustering for the planning graph that significantly reduces the number of feasible solutions, yet retains a solution…
Given a directed graph $G = (V, E)$, the $k$-path partition problem is to find a minimum collection of vertex-disjoint directed paths each of order at most $k$ to cover all the vertices of $V$. The problem has various applications in…
Although Dijkstra's algorithm has near-optimal time complexity for the problem of finding a shortest path from a given vertex $s$ to a given vertex $t$, in practice other algorithms are often superior on huge graphs. A prominent example is…
Path planning is important for the autonomy of Unmanned Aerial Vehicle (UAV), especially for scheduling UAV delivery. However, the operating environment of UAVs is usually uncertain and dynamic. Without proper planning, collisions may…
Given a source of iid samples of edges of an input graph $G$ with $n$ vertices and $m$ edges, how many samples does one need to compute a constant factor approximation to the maximum matching size in $G$? Moreover, is it possible to obtain…
Many robotics applications benefit from being able to compute multiple locally optimal paths in a given configuration space. Examples include path planning for of tethered robots with cable-length constraints, systems involving cables,…
In this paper, we address the problem of recovering arbitrary-shaped data clusters from datasets while facing \emph{high space constraints}, as this is for instance the case in many real-world applications when analysis algorithms are…
In this paper, we propose a deterministic algorithm that approximates the optimal path cover on weighted undirected graphs. Based on the 1/2-Approximation Path Cover Algorithm by Moran et al., we add a procedure to remove the redundant…