Related papers: Improved Shortest Path Maps with GPU Shaders
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
We investigate finding a map $g$ within a function class $G$ that minimises an Optimal Transport (OT) cost between a target measure $\nu$ and the image by $g$ of a source measure $\mu$. This is relevant when an OT map from $\mu$ to $\nu$…
We present an algorithm which combines recent advances in model based path integral control with machine learning approaches to learning forward dynamics models. We take advantage of the parallel computing power of a GPU to quickly take a…
In this paper we study a variant of the shortest path problem in graphs: given a weighted graph G and vertices s and t, and given a set X of forbidden paths in G, find a shortest s-t path P such that no path in X is a subpath of P. Path P…
Fast and efficient path generation is critical for robots operating in complex environments. This motion planning problem is often performed in a robot's actuation or configuration space, where popular pathfinding methods such as A*, RRT*,…
This paper presents a real-time 3D LiDAR mapping framework based on global matching cost minimization. The proposed method constructs a factor graph that directly minimizes matching costs between frames over the entire map, unlike pose…
Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…
Modeling data sharing in GPU programs is a challenging task because of the massive parallelism and complex data sharing patterns provided by GPU architectures. Better GPU caching efficiency can be achieved through careful task scheduling…
Fastest-path queries between two points in a very large road map is an increasingly important primitive in modern transportation and navigation systems, thus very efficient computation of these paths is critical for system performance and…
We present an algorithm for steering the output of a linear system from a feasible initial condition to a desired target position, while satisfying input constraints and non-convex output constraints. The system input is generated by a…
This short paper presents an efficient path following solution for ground vehicles tailored to game AI. Our focus is on adapting established techniques to design simple solutions with parameters that are easily tunable for an efficient…
Implicit neural representations have shown promising potential for the 3D scene reconstruction. Recent work applies it to autonomous 3D reconstruction by learning information gain for view path planning. Effective as it is, the computation…
Path planning is crucial for the efficient operation of Autonomous Mobile Robots (AMRs) in factory environments. Many existing algorithms rely on Dubins paths, which have been adapted for various applications. However, an efficient method…
All Colors Shortest Path problem defined on an undirected graph aims at finding a shortest, possibly non-simple, path where every color occurs at least once, assuming that each vertex in the graph is associated with a color known in…
Stroking a path is one of the two basic rendering operations in vector graphics standards (e.g., PostScript, PDF, SVG). We survey path stroking rendering results from real-world software implementations of path stroking for anecdotal…
Many high-dimensional optimisation problems exhibit rich geometric structures in their set of minimisers, often forming smooth manifolds due to over-parametrisation or symmetries. When this structure is known, at least locally, it can be…
We study the problem of computing shortest paths in so-called dense distance graphs. Every planar graph $G$ on $n$ vertices can be partitioned into a set of $O(n/r)$ edge-disjoint regions (called an $r$-division) with $O(r)$ vertices each,…
The path version of the Traveling Salesman Problem is one of the most well-studied variants of the ubiquitous TSP. Its generalization, the Multi-Path TSP, has recently been used in the best known algorithm for path TSP by Traub and Vygen…
We give algorithms for geometric graph problems in the modern parallel models inspired by MapReduce. For example, for the Minimum Spanning Tree (MST) problem over a set of points in the two-dimensional space, our algorithm computes a…
Quantum image processing is a growing field attracting attention from both the quantum computing and image processing communities. We propose a novel method in combining a graph-theoretic approach for optimal surface segmentation and hybrid…