Related papers: Improved Shortest Path Maps with GPU Shaders
The problem of finding the shortest path in a graph G(V, E) has been widely studied. However, in many applications it is necessary to compute an arbitrary number of them, k. Even though the problem has raised a lot of interest from…
We show how to combine two techniques for efficiently computing shortest paths in directed planar graphs. The first is the linear-time shortest-path algorithm of Henzinger, Klein, Subramanian, and Rao [STOC'94]. The second is Fakcharoenphol…
We propose an approach to solve multi-agent path planning (MPP) problems for complex environments. Our method first designs a special pebble graph with a set of feasibility constraints, under which MPP problems have feasibility guarantee.…
Minimal paths are regarded as a powerful and efficient tool for boundary detection and image segmentation due to its global optimality and the well-established numerical solutions such as fast marching method. In this paper, we introduce a…
We introduce FastGraph, a novel GPU-optimized k-nearest neighbor algorithm specifically designed to accelerate graph construction in low-dimensional spaces (2-10 dimensions), critical for high-performance graph neural networks. Our method…
Most existing motion planning algorithms assume that a map (of some quality) is fully determined prior to generating a motion plan. In many emerging applications of robotics, e.g., fast-moving agile aerial robots with constrained embedded…
Graph-based Approximate Nearest Neighbor Search (ANNS) is widely adopted in numerous applications, such as recommendation systems, natural language processing, and computer vision. While recent works on GPU-based acceleration have…
This paper introduces a differentiable representation for the optimization of boustrophedon path plans in convex polygons, explores an additional parameter of these path plans that can be optimized, discusses the properties of this…
As large graph datasets become increasingly common across many fields, sampling is often needed to reduce the graphs into manageable sizes. This procedure raises critical questions about representativeness as no sample can capture the…
Shortest path queries over graphs are usually considered as isolated tasks, where the goal is to return the shortest path for each individual query. In practice, however, such queries are typically part of a system (e.g., a road network)…
Digital twins and other simulators are increasingly used to support routing decisions in large-scale networks. However, simulator outputs often exhibit systematic bias, while ground-truth measurements are costly and scarce. We study a…
Computing the shortest path between two given locations in a road network is an important problem that finds applications in various map services and commercial navigation products. The state-of-the-art solutions for the problem can be…
Let $\mathcal{P}$ be the surface of a convex polyhedron with $n$ vertices. We consider the two-point shortest path query problem for $\mathcal{P}$: Constructing a data structure so that given any two query points $s$ and $t$ on…
Planning safe paths is a major building block in robot autonomy. It has been an active field of research for several decades, with a plethora of planning methods. Planners can be generally categorised as either trajectory optimisers or…
Paths generated by A* and other graph-search-based planners are widely used in the robotic field. Due to the restricted node-expansion directions, the resulting paths are usually not the shortest. Besides, unnecessary heading changes, or…
In the graph stream model of computation, an algorithm processes the edges of an input graph in one or more sequential passes while using a memory sublinear in the input size. This model poses significant challenges for constructing long…
We consider the minimum-cut partitioning of a graph into more than two parts using spectral methods. While there exist well-established spectral algorithms for this problem that give good results, they have traditionally not been well…
Previous path guiding techniques typically rely on spatial subdivision structures to approximate directional target distributions, which may cause failure to capture spatio-directional correlations and introduce parallax issue. In this…
Given a point $s$ and a set of $h$ pairwise disjoint polygonal obstacles of totally $n$ vertices in the plane, we present a new algorithm for building an $L_1$ shortest path map of size O(n) in $O(T)$ time and O(n) space such that for any…
We provide a preliminary study on utilizing GPU (Graphics Processing Unit) to accelerate computation for three simulation optimization tasks with either first-order or second-order algorithms. Compared to the implementation using only CPU…