Related papers: Rectilinear Shortest Paths Among Transient Obstacl…
Computing a shortest path between two nodes in an undirected unweighted graph is among the most basic algorithmic tasks. Breadth first search solves this problem in linear time, which is clearly also a lower bound in the worst case.…
In this paper, we consider the rectilinear one-center problem on uncertain points in the plane. In this problem, we are given a set $P$ of $n$ (weighted) uncertain points in the plane and each uncertain point has $m$ possible locations each…
In the Disjoint Shortest Paths problem one is given a graph $G$ and a set $\mathcal{T}=\{(s_1,t_1),\dots,(s_k,t_k)\}$ of $k$ vertex pairs. The question is whether there exist vertex-disjoint paths $P_1,\dots,P_k$ in $G$ so that each $P_i$…
The quadratic shortest path problem is the problem of finding a path in a directed graph such that the sum of interaction costs over all pairs of arcs on the path is minimized. We derive several semidefinite programming relaxations for the…
Temporal graphs arise when modeling interactions that evolve over time. They usually come in several flavors, depending on the number of parameters used to describe the temporal aspects of the interactions: time of appearance, duration,…
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…
In this paper, we consider the problem of planning a path for a robot to monitor a known set of features of interest in an environment. We represent the environment as a graph with vertex weights and edge lengths. The vertices represent…
This paper addresses the problem of finding multiple near-optimal, spatially-dissimilar paths that can be considered as alternatives in the decision making process, for finding optimal corridors in which to construct a new road. We further…
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…
We study the query version of constrained minimum link paths between two points inside a simple polygon $P$ with $n$ vertices such that there is at least one point on the path, visible from a query point. The method is based on partitioning…
We address the point-to-face approximate shortest path problem in R: Given a set of polyhedral obstacles with a total of n vertices, a source point s, an obstacle face f, and a real positive parameter epsilon, compute a path from s to f…
A rectilinear Steiner tree for a set $P$ of points in $\mathbb{R}^2$ is a tree that connects the points in $P$ using horizontal and vertical line segments. The goal of Minimal Rectilinear Steiner Tree is to find a rectilinear Steiner tree…
Given two points s and t in the plane and a set of obstacles defined by closed curves, what is the minimum number of obstacles touched by a path connecting s and t? This is a fundamental and well-studied problem arising naturally in…
The problem of maneuvering a vehicle through a race course in minimum time requires computation of both longitudinal (brake and throttle) and lateral (steering wheel) control inputs. Unfortunately, solving the resulting nonlinear optimal…
Obstacle avoidance between polytopes is a challenging topic for optimal control and optimization-based trajectory planning problems. Existing work either solves this problem through mixed-integer optimization, relying on simplification of…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
Autonomous navigation requires robots to generate trajectories for collision avoidance efficiently. Although plenty of previous works have proven successful in generating smooth and spatially collision-free trajectories, their solutions…
In this article, we present an approximation algorithm for solving the Weighted Region Problem amidst a set of $ n $ non-overlapping weighted disks in the plane. For a given parameter $ \varepsilon \in (0,1]$, the length of the approximate…
In this work, we present a method for minimizing the time required for a redundant dual-arm robot to follow a desired relative Cartesian path at constant path speed by optimizing its joint trajectories, subject to position, velocity, and…
Given a directed graph of nodes and edges connecting them, a common problem is to find the shortest path between any two nodes. Here we show that the shortest path distances can be found by a simple matrix inversion: If the edges are given…