Related papers: Rectilinear Shortest Paths Among Transient Obstacl…
We devise a polynomial-time approximation scheme for the classical geometric problem of finding an approximate short path amid weighted regions. In this problem, a triangulated region P comprising of n vertices, a positive weight associated…
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…
Let $\mathcal{P}$ be a polygonal domain of $h$ holes and $n$ vertices. We study the problem of constructing a data structure that can compute a shortest path between $s$ and $t$ in $\mathcal{P}$ under the $L_1$ metric for any two query…
The ARRIVAL problem is to decide the fate of a train moving along the edges of a directed graph, according to a simple (deterministic) pseudorandom walk. The problem is in $NP \cap coNP$ but not known to be in $P$. The currently best…
The problem of planning a set of paths for the coalition of robots (agents) with different capabilities is considered in the paper. Some agents can modify the environment by destructing the obstacles thus allowing the other ones to shorten…
We study the problem of minimum enclosing rectangle with outliers, which asks to find, for a given set of $n$ planar points, a rectangle with minimum area that encloses at least $(n-t)$ points. The uncovered points are regarded as outliers.…
Minimising the longest travel distance for a group of mobile robots with interchangeable goals requires knowledge of the shortest length paths between all robots and goal destinations. Determining the exact length of the shortest paths in…
We consider the problem of a particle traveling from an initial configuration to a final configuration (given by a point in the plane along with a prescribed velocity vector) in minimum time with non-homogeneous velocity and with…
Considering a graph with unknown weights, can we find the shortest path for a pair of nodes if we know the minimal Steiner trees associated with some subset of nodes? That is, with respect to a fixed latent decision-making system (e.g., a…
The problem of finding multiple simple shortest paths in a weighted directed graph $G=(V,E)$ has many applications, and is considerably more difficult than the corresponding problem when cycles are allowed in the paths. Even for a single…
We present a $O(n^{\frac{3}{2}})$-time algorithm for the \emph{shortest (diagonal) flip path problem} for \emph{lattice} triangulations with $n$ points, improving over previous $O(n^2)$-time algorithms. For a large, natural class of inputs,…
This paper is concerned with determining the shortest path for a pursuer aiming to intercept a moving target travelling at a constant speed. To address this challenge, we introduce an efficient mathematical model outlined as an optimal…
In a graph $G$ with a source $s$, we design a distance oracle that can answer the following query: Query$(s,t,e)$ -- find the length of shortest path from a fixed source $s$ to any destination vertex $t$ while avoiding any edge $e$. We…
This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive…
We consider an off-line optimisation problem where $k$ robots must service $n$ requests on a single line. A request $i$ has weight $w_i$ and takes place at time $t_i$ at location $d_i$ on the line. A robot can service a request and collect…
Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…
We consider the problem of computing shortest paths in weighted unit-disk graphs in constant dimension $d$. Although the single-source and all-pairs variants of this problem are well-studied in the plane case, no non-trivial exact distance…
Minimum-time navigation within constrained and dynamic environments is of special relevance in robotics. Seeking time-optimality, while guaranteeing the integrity of time-varying spatial bounds, is an appealing trade-off for agile vehicles,…
This paper discusses the shortest path problem in a general directed graph with $n$ nodes and $K$ cost scenarios (objectives). In order to choose a solution, the min-max criterion is applied. The min-max version of the problem is hard to…
We consider optimal route planning when the objective function is a general nonlinear and non-monotonic function. Such an objective models user behavior more accurately, for example, when a user is risk-averse, or the utility function needs…