Related papers: Improved Shortest Path Maps with GPU Shaders
With the development of artificial intelligence techniques, transportation system optimization is evolving from traditional methods relying on expert experience to simulation and learning-based decision and optimization methods.…
Pathfinding is a very popular area in computer game development. While two-dimensional (2D) pathfinding is widely applied in most of the popular game engines, little implementation of real three-dimensional (3D) pathfinding can be found.…
Computing shortest paths is one of the most researched topics in algorithm engineering. Currently available algorithms compute shortest paths in mere fractions of a second on continental sized road networks. In the presence of…
We present a novel algorithm that fuses the existing convex-programming based approach with heuristic information to find optimality guarantees and near-optimal paths for the Shortest Path Problem in the Graph of Convex Sets (SPP-GCS). Our…
In this paper, we study the computation of shortest paths within the \emph{geometric amoebot model}, a commonly used model for programmable matter. Shortest paths are essential for various tasks and therefore have been heavily investigated…
Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…
An autonomous robot with a limited vision range finds a path to the goal in an unknown environment in 2D avoiding polygonal obstacles. In the process of discovering the environmental map, the robot has to return to some positions marked…
We present a set of rules to guide the design of GPU algorithms. These rules are grounded on the principle of reducing waste in GPU utility to achieve good speed up. In accordance to these rules, we propose GPU algorithms for 2D…
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…
Rendering volumetric scattering media, including clouds, fog, smoke, and other complex materials, is crucial for realism in computer graphics. Traditional path tracing, while unbiased, requires many long path samples to converge in scenes…
Structured representations such as scene graphs serve as an efficient and compact representation that can be used for downstream rendering or retrieval tasks. However, existing efforts to generate realistic images from scene graphs perform…
Texture-space shading (TSS) methods decouple shading and rasterization, allowing shading to be performed at a different framerate and spatial resolution than rasterization. TSS has many potential applications, including streaming shading…
We propose a robust and efficient framework to generate global trajectories for ground robots in complex 3D environments. The proposed method takes point cloud as input and efficiently constructs a multi-level map using triangular patches…
Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…
Many real-world applications need path planning algorithms to solve tasks in different areas, such as social applications, autonomous cars, and tracking activities. And most importantly motion planning. Although the use of path planning is…
We present a fast, differentiable, GPU-accelerated optimization method for ray path tracing in environments containing planar reflectors and straight diffraction edges. Based on Fermat's principle, our approach reformulates the path-finding…
We present Graphite, a GPU-accelerated nonlinear least squares graph optimization framework. It provides a CUDA C++ interface to enable the sharing of code between a real-time application, such as a SLAM system, and its optimization tasks.…
This paper addresses the problem of finding shortest paths homotopic to a given disjoint set of paths that wind amongst point obstacles in the plane. We present a faster algorithm than previously known.
We present methods for offline generation of sparse roadmap spanners that result in graphs 79% smaller than existing approaches while returning solutions of equivalent path quality. Our method uses a hybrid approach to sampling that…
We study the problem of path planning with soft homology constraints on a surface topologically equivalent to a disk with punctures. Specifically, we propose an algorithm, named $\Hstar$, for the efficient computation of a path homologous…