Related papers: Does a robot path have clearance c?
We investigate a practical variant of the well-known polygonal visibility path (watchman) problem. For a polygon $P$, a minimum link visibility path is a polygonal visibility path in $P$ that has the minimum number of links. The problem of…
A time-optimal problem for redundantly actuated robots moving on a specified path is a challenging problem. Although the problem is well explored and there are proposed solutions based on phase plane analysis, there are still several…
Given $n$ points in the plane, a \emph{covering path} is a polygonal path that visits all the points. If no three points are collinear, every covering path requires at least $n/2$ segments, and $n-1$ straight line segments obviously suffice…
Even though mobile robots have been around for decades, trajectory optimization and continuous time collision avoidance remain subject of active research. Existing methods trade off between path quality, computational complexity, and…
Path planning in narrow passages is a challenging problem in various applications. Traditional planning algorithms often face challenges in complex environments like mazes and traps, where narrow entrances require special orientation…
In practice, navigation of mobile robots in confined environments is often done using a spatially discrete cost-map to represent obstacles. Path following is a typical use case for model predictive control (MPC), but formulating constraints…
Given an $n$-vertex planar embedded digraph $G$ with non-negative edge weights and a face $f$ of $G$, Klein presented a data structure with $O(n\log n)$ space and preprocessing time which can answer any query $(u,v)$ for the shortest path…
We present a quasi polynomial time approximation scheme (Q-PTAS) for the capacitated vehicle routing problem (CVRP) on $n$ points in the Euclidean plane for arbitrary capacity $c$. The running time is $n^{f(\epsilon)\cdot\log\log n}$ for…
Given a graph $G$ and two vertices $s$ and $t$ in it, {\em graph reachability} is the problem of checking whether there exists a path from $s$ to $t$ in $G$. We show that reachability in directed layered planar graphs can be decided in…
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…
We provide a linear time algorithm to determine the flip distance between two plane spanning paths on a point set in convex position. At the same time, we show that the happy edge property does not hold in this setting. This has to be seen…
The Meeting problem for $k\geq 2$ searchers in a polygon $P$ (possibly with holes) consists in making the searchers move within $P$, according to a distributed algorithm, in such a way that at least two of them eventually come to see each…
We consider the problem of finding an optimal piecewise linear path (polygonal line) connecting two given points with the possibility of making n turns at some points (the absolute value of each turn angle does not exceed a prescribed…
Given an undirected $n$-vertex graph and $k$ pairs of terminal vertices $(s_1,t_1), \ldots, (s_k,t_k)$, the $k$-Disjoint Shortest Paths ($k$-DSP)-problem asks whether there are $k$ pairwise vertex-disjoint paths $P_1,\ldots, P_k$ such that…
We study the problem of determining coordinated motions, of minimum total length, for two arbitrary convex centrally-symmetric (CCS) robots in an otherwise obstacle-free plane. Using the total path length traced by the two robot centres as…
In this paper, we compute a conservative approximation of the path-connected components of the free space of a rigid object in a 2D workspace in order to solve two closely related problems: to determine whether there exists a collision-free…
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…
A variant of the well-known Shortest Path Problem is studied in this paper, where pairs of conflicting arcs are provided, and for each conflicting pair a penalty is paid once neither or both of the arcs are selected. This configures a set…
Let S be a set of distinct points in general position in the Euclidean plane. A plane Hamiltonian path on S is a crossing-free geometric path such that every point of S is a vertex of the path. It is known that, if S is sufficiently large,…
We present a fixed-parameter tractable (FPT) algorithm to find a shortest curve that encloses a set of k required objects in the plane while paying a penalty for enclosing unwanted objects. The input is a set of interior-disjoint simple…