Related papers: T* : A Heuristic Search Based Algorithm for Motion…
Autonomous path planning requires a synergy between global reasoning and geometric precision, especially in complex or cluttered environments. While classical A* is valued for its optimality, it incurs prohibitive computational and memory…
Both geometric and semantic information of the search space is imperative for a good plan. We encode those properties in a weighted colored graph (geometric information in terms of edge weight and semantic information in terms of edge and…
Path finding algorithm addresses problem of finding shortest path from source to destination avoiding obstacles. There exist various search algorithms namely A*, Dijkstra's and ant colony optimization. Unlike most path finding algorithms…
In this paper we present a novel probabilistic sampling-based motion planning algorithm called the Fast Marching Tree algorithm (FMT*). The algorithm is specifically aimed at solving complex motion planning problems in high-dimensional…
We study the problem of optimal multi-robot path planning on graphs MPP over four distinct minimization objectives: the makespan (last arrival time), the maximum (single-robot traveled) distance, the total arrival time, and the total…
Parking a vehicle in tight spaces is a challenging task to perform due to the scarcity of feasible paths that are also collision-free. This paper presents a strategy to tackle this kind of maneuver with a modified Hybrid-A* path-planning…
This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…
Given different types of constraints on human life, people must make decisions that satisfy social activity needs. Minimizing costs (i.e., distance, time, or money) associated with travel plays an important role in perceived and realized…
We study a path planning problem where the possible move actions are represented as a finite set of motion primitives aligned with the grid representation of the environment. That is, each primitive corresponds to a short…
In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…
The Multi-objective Shortest Path (MOSP) problem is a classic network optimization problem that aims to find all Pareto-optimal paths between two points in a graph with multiple edge costs. Recent studies on multi-objective search with A*…
Essential tasks in autonomous driving includes environment perception, detection and tracking, path planning and action control. This paper focus on path planning, which is one of the challenging task as it needs to find optimal path in…
This work proposes a unified heuristic algorithm for a large class of earliness-tardiness (E-T) scheduling problems. We consider single/parallel machine E-T problems that may or may not consider some additional features such as idle time,…
Carpooling has gained considerable importance in developed as well as in developing countries as an effective solution for controlling vehicular pollution, both sound and air. As carpooling decreases the number of vehicles used by…
Robot path planning plays a pivotal role in enabling autonomous systems to navigate safely and efficiently in complex and uncertain environments. Despite extensive research on classical graph-based methods and sampling-based planners,…
This paper considers a generalization of the Path Finding (PF) problem with refuelling constraints referred to as the Gas Station Problem (GSP). Similar to PF, given a graph where vertices are gas stations with known fuel prices, and edge…
The development of driving functions for autonomous vehicles in urban environments is still a challenging task. In comparison with driving on motorways, a wide variety of moving road users, such as pedestrians or cyclists, but also the…
With the goal of efficiently computing collision-free robot motion trajectories in dynamically changing environments, we present results of a novel method for Heuristics Informed Robot Online Path Planning (HIRO). Dividing robot…
Recent papers have shown optimally-competitive on-line strategies for a robot traveling from a point $s$ to a point $t$ in certain unknown geometric environments. We consider the question: Having gained some partial information about the…
While most heuristics studied in heuristic search depend only on the state, some accumulate information during search and thus also depend on the search history. Various existing approaches use such dynamic heuristics in $\mathrm{A}^*$-like…