Related papers: Rectilinear Shortest Paths Among Transient Obstacl…
We propose an algorithm for solving the time-dependent shortest path problem in flow fields where the FIFO (first-in-first-out) assumption is violated. This problem variant is important for autonomous vehicles in the ocean, for example,…
We study the 2-Disjoint Shortest Paths (2-DSP) problem: given a directed weighted graph and two terminal pairs $(s_1,t_1)$ and $(s_2,t_2)$, decide whether there exist vertex-disjoint shortest paths between each pair. Building on recent…
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…
We propose an exact algorithm for solving the longest simple path problem between two given vertices in undirected weighted graphs. By using graph partitioning and dynamic programming, we obtain an algorithm that is significantly faster…
Let $G$ be an edge-weighted directed graph with $n$ vertices embedded on an orientable surface of genus $g$. We describe a simple deterministic lexicographic perturbation scheme that guarantees uniqueness of minimum-cost flows and shortest…
In this paper we study the problem of finding hotspots, i.e. regions in which a moving entity has spent a significant amount of time, for polygonal trajectories. The fastest optimal algorithm, due to Gudmundsson, van Kreveld, and Staals…
In this paper we present a method for automatically planning robust 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…
Navigating a collision-free and optimal trajectory for a robot is a challenging task, particularly in environments with moving obstacles such as humans. We formulate this problem as a stochastic optimal control problem. Since solving the…
The distributed single-source shortest paths problem is one of the most fundamental and central problems in the message-passing distributed computing. Classical Bellman-Ford algorithm solves it in $O(n)$ time, where $n$ is the number of…
We consider an asynchronous system with transitions corresponding to the instructions of a computer system. For each instruction, a runtime is given. We propose a mathematical model, allowing us to construct an algorithm for finding the…
This paper presents a search-based partial motion planner to generate dynamically feasible trajectories for car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by…
We consider the Distinct Shortest Walks problem. Given two vertices $s$ and $t$ of a graph database $\mathcal{D}$ and a regular path query, enumerate all walks of minimal length from $s$ to $t$ that carry a label that conforms to the query.…
Dijkstra's algorithm is the standard method for computing shortest paths on arbitrary graphs. However, it is slow for large graphs, taking at least linear time. It has been long known that for real world road networks, creating a hierarchy…
This paper considers trajectory planning for a mobile robot which persistently relays data between pairs of far-away communication nodes. Data accumulates stochastically at each source, and the robot must move to appropriate positions to…
The Constraint Shortest Path (CSP) problem is as follows. An $n$-vertex graph is given, each edge/arc assigned two weights. Let us call them "cost" and "length" for definiteness. Finding a min-cost upper-bounded length path between a given…
We study the problem of path planning for unlabeled (indistinguishable) unit-disc robots in a planar environment cluttered with polygonal obstacles. We introduce an algorithm which minimizes the total path length, i.e., the sum of lengths…
This paper presents a novel obstacle avoidance system for road robots equipped with RGB-D sensor that captures scenes of its way forward. The purpose of the system is to have road robots move around autonomously and constantly without any…
The shortest path (SP) and shortest paths tree (SPT) problems arise both as direct applications and as subroutines of overlay algorithms solving more complex problems such as the constrained shortest path (CSP) or the constrained minimum…
A path from s to t on a polyhedral terrain is descending if the height of a point p never increases while we move p along the path from s to t. No efficient algorithm is known to find a shortest descending path (SDP) from s to t in a…
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…