Related papers: Rectilinear Shortest Paths Among Transient Obstacl…
Consider the goal of visiting every part of a room that is not blocked by obstacles. Doing so efficiently requires both sensors and planning. Our findings suggest a method of inexpensive optical range finding for robotic room traversal. Our…
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…
We consider the Minimum Steiner Cut problem on undirected planar graphs with non-negative edge weights. This problem involves finding the minimum cut of the graph that separates a specified subset $X$ of vertices (terminals) into two parts.…
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…
Algorithms which compute properties over graphs have always been of interest in computer science, with some of the fundamental algorithms, such as Dijkstra's algorithm, dating back to the 50s. Since the 70s there as been interest in…
Obstacle avoidance is one of the essential and indispensable functions for autonomous mobile robots. Most of the existing solutions are typically based on single condition constraint and cannot incorporate sensor data in a real-time manner,…
Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless,…
In this paper we consider shortest path problems in a directed graph where the transitions between nodes are subject to uncertainty. We use a minimax formulation, where the objective is to guarantee that a special destination state is…
Reachability questions are one of the most fundamental algorithmic primitives in temporal graphs -- graphs whose edge set changes over discrete time steps. A core problem here is the NP-hard Short Restless Temporal Path: given a temporal…
Let $\mathcal{W} \subset \mathbb{R}^2$ be a rectilinear polygonal environment (that is, a rectilinear polygon potentially with holes) with a total of $n$ vertices, and let $A,B$ be two robots, each modeled as an axis-aligned unit square,…
The minimum constraint removal problem seeks to find the minimum number of constraints, i.e., obstacles, that need to be removed to connect a start to a goal location with a collision-free path. This problem is NP-hard and has been studied…
Autonomous agents face the challenge of coordinating multiple tasks (perception, motion planning, controller) which are computationally expensive on a single onboard computer. To utilize the onboard processing capacity optimally, it is…
We study the use of machine learning techniques to solve a fundamental shortest path problem, known as the single-source many-targets shortest path problem (SSMTSP). Given a directed graph with non-negative edge weights, our goal is to…
Path planning for a robot is one of the major problems in the area of robotics. When a robot is given a task in the form of a Linear Temporal Logic (LTL) specification such that the task needs to be carried out repetitively, we want the…
A path or a polygonal domain is C-oriented if the orientations of its edges belong to a set of C given orientations; this is a generalization of the notable rectilinear case (C = 2). We study exact and approximation algorithms for…
A rectilinear polygon is a polygon whose edges are axis-aligned. Walking counterclockwise on the boundary of such a polygon yields a sequence of left turns and right turns. The number of left turns always equals the number of right turns…
In this paper, we propose a path re-planning algorithm that makes robots able to work in scenarios with moving obstacles. The algorithm switches between a set of pre-computed paths to avoid collisions with moving obstacles. It also improves…
We approach the fundamental problem of obstacle avoidance for robotic systems via the lens of online learning. In contrast to prior work that either assumes worst-case realizations of uncertainty in the environment or a stationary…
All traditional methods of computing shortest paths depend upon edge-relaxation where the cost of reaching a vertex from a source vertex is possibly decreased if that edge is used. We introduce a method which maintains lower bounds as well…
We study a path-planning problem amid a set $\mathcal{O}$ of obstacles in $\mathbb{R}^2$, in which we wish to compute a short path between two points while also maintaining a high clearance from $\mathcal{O}$; the clearance of a point is…