Related papers: A Decomposition-Based Approach to Reasoning about …
In the real world, insufficient information, limited computation resources, and complex problem structures often force an autonomous agent to make a decision in time less than that required to solve the problem at hand completely. Flexible…
Given a structure made up of n sites connected by b bars, the problem of recognizing which subsets of sites form rigid units is not a trivial one, because of the non-local character of rigidity in central-force systems. Even though this is…
This paper extends previous research in that sense that for orthogonal projections of rigid smooth (true-3D) curves moving totally free it reduces the number of required traceable points to two only (the best results known so far to the…
This study investigates the exact geometry of the configuration space in three-dimensional rotational motion planning. A parameterization of configuration space obstacles is derived for a given triangulated or ball-approximated scene with…
The determination of time-dependent collision-free shortest paths has received a fair amount of attention. Here, we study the problem of computing a time-dependent shortest path among growing discs which has been previously studied for the…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
We introduce a mathematical and cryptographic framework for exact recovery of noisy hidden paths in high dimensional discrete path spaces. The work is inspired by the path integral viewpoint, where global quantities arise from contributions…
We present a fast algorithm for the design of smooth paths (or trajectories) that are constrained to lie in a collection of axis-aligned boxes. We consider the case where the number of these safe boxes is large, and basic preprocessing of…
Imagine that unlabelled tokens are placed on the edges of a graph, such that no two tokens are placed on incident edges. A token can jump to another edge if the edges having tokens remain independent. We study the problem of determining the…
A topological theory initiated recently by the author uses methods of algebraic topology to estimate numerically the character of instabilities arising in motion planning algorithms. The present paper studies random motion planning…
We study a path-planning problem amid a set $\mathcal{O}$ of obstacles in $\mathbb{R}^2$, in which we wish to compute a short path between two points while also maintaining a high clearance from $\mathcal{O}$; the clearance of a point is…
Addressing irregular cutting and packing (C&P) optimization problems poses two distinct challenges: the geometric challenge of determining whether or not an item can be placed feasibly at a certain position, and the optimization challenge…
An important problem in geometric reasoning is to find the configuration of a collection of geometric bodies so as to satisfy a set of given constraints. Recently, it has been suggested that this problem can be solved efficiently by…
In this paper we propose an approach for computing multiple high-quality near-isometric dense correspondences between a pair of 3D shapes. Our method is fully automatic and does not rely on user-provided landmarks or descriptors. This…
We propose a new 2D shape decomposition method based on the short-cut rule. The short-cut rule originates from cognition research, and states that the human visual system prefers to partition an object into parts using the shortest possible…
Two-dimensional bin packing problems are highly relevant combinatorial optimization problems. They find a large number of applications, for example, in the context of transportation or warehousing, and for the cutting of different materials…
Path-velocity decomposition is an intuitive yet powerful approach to address the complexity of kinodynamic motion planning. The difficult trajectory planning problem is solved in two separate, simpler, steps: first, find a path in the…
The collision avoidance constraints are prominent as non-convex, non-differentiable, and challenging when defined in optimization-based motion planning problems. To overcome these issues, this paper presents a novel non-conservative…
Finding nearly accurate distance between two or more nearly intersecting three-dimensional (3D) objects is vital especially for collision determination such as in virtual surgeon simulation and real-time car crash simulation. Instead of…
Path planning for 3D solid objects is a challenging problem, requiring a search in a six-dimensional configuration space, which is, nevertheless, essential in many robotic applications such as bin-picking and assembly. The commonly used…