Related papers: Rectilinear Shortest Paths Among Transient Obstacl…
A modified version of the Dijkstra algorithm using an inventive contraction hierarchy is proposed. The algorithm considers a directed acyclic graph with a conical or semi-circular structure for which a pair of edges is chosen iteratively…
Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning, we desire systems that can maintain an acceptable level of…
Till now, many path planning algorithms have been proposed in the literature. The objective of these algorithms is to find the quickest path between initial position to the end position in a certain environment. The complexity of these…
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…
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…
Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…
Safe trajectory planning for high-performance automated vehicles in an environment with both static and moving obstacles is a challenging problem. Part of the challenge is developing a formulation that can be solved in real-time while…
This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…
We give an iterative algorithm for finding the maximum flow between a set of sources and sinks that lie on the boundary of a planar graph. Our algorithm uses only O(n) queries to simple data structures, achieving an O(n log n) running time…
Given two points in the plane, and a set of "obstacles" given as curves through the plane with assigned weights, we consider the point-separation problem, which asks for the minimum-weight subset of the obstacles separating the two points.…
A Differential Drive Robot (DDR) located inside a circular detection region in the plane wants to escape from it in minimum time. Various robotics applications can be modeled like the previous problem, such as a DDR escaping as soon as…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
In this paper, we present a novel strategy to compute minimum-time trajectories for quadrotors in constrained environments. In particular, we consider the motion in a given flying region with obstacles and take into account the physical…
We introduce a method for efficiently computing the exact shortest path to the boundary of a mesh from a given internal point in the presence of self-intersections. We provide a formal definition of shortest boundary paths for…
Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…
We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…
This paper discusses obstacle avoidance using fuzzy logic and shortest path algorithm. This paper also introduces the sliding blades problem and illustrates how a drone can navigate itself through the swinging blade obstacles while tracing…
Given two points in the plane, a set of obstacles defined by closed curves, and an integer $k$, does there exist a path between the two designated points intersecting at most $k$ of the obstacles? This is a fundamental and well-studied…
Let $P$ be a planar set of $n$ points in general position. We consider the problem of computing an orientation of the plane for which the Rectilinear Convex Hull of $P$ has minimum area. Bae et al. (Computational Geometry: Theory and…
In this work, we propose a method to efficiently compute smooth, time-optimal trajectories for micro aerial vehicles (MAVs) evading a moving obstacle. Our approach first computes an n-dimensional trajectory from the start- to an arbitrary…