Related papers: eLIAN: Enhanced Algorithm for Angle-constrained Pa…
Many algorithms for clipping a line by a rectangular area or a convex polygon in E2 or by a non-convex or convex polyhedron in E3 have been published. The line segment clipping by the rectangular window in E2 is often restricted to the use…
The classic Resource Constrained Shortest Path (RCSP) problem aims to find a cost optimal path between a pair of nodes in a network such that the resources used in the path are within a given limit. Having been studied for over a decade,…
In several important routing contexts it is required to identify a set of routes, each of which optimizes a different criterion. For instance, in the context of vehicle routing, one route would minimize the total distance traveled, while…
Detecting vehicles with strong robustness and high efficiency has become one of the key capabilities of fully autonomous driving cars. This topic has already been widely studied by GPU-accelerated deep learning approaches using image…
Lane detection is a fundamental task in autonomous driving. While the problem is typically formulated as the detection of continuous boundaries, we study the problem of detecting lane boundaries that are sparsely marked by 2D points with…
Constrained motion planning is a common but challenging problem in robotic manipulation. In recent years, data-driven constrained motion planning algorithms have shown impressive planning speed and success rate. Among them, the latent…
For optimization problems on Riemannian manifolds, many types of globally convergent algorithms have been proposed, and they are often equipped with the Riemannian version of the Armijo line search for global convergence. Such existing…
Constrained Optimum Path (COP) problems appear in many real-life applications, especially on communication networks. Some of these problems have been considered and solved by specific techniques which are usually difficult to extend. In…
In this work, we introduce a novel strategy for tackling constrained optimization problems through a modified penalty method. Conventional penalty methods convert constrained problems into unconstrained ones by incorporating constraints…
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…
In this paper, we propose new techniques for solving geometric optimization problems involving interpoint distances of a point set in the plane. Given a set $P$ of $n$ points in the plane and an integer $1 \leq k \leq \binom{n}{2}$, the…
It is common to encounter situations where one must solve a sequence of similar computational problems. Running a standard algorithm with worst-case runtime guarantees on each instance will fail to take advantage of valuable structure…
Detecting local features, such as corners, segments or blobs, is the first step in the pipeline of many Computer Vision applications. Its speed is crucial for real-time applications. In this paper we present ELSED, the fastest line segment…
Incremental graph search algorithms such as D* Lite reuse previous, and perhaps partial, searches to expedite subsequent path planning tasks. In this article, we are interested in developing incremental graph search algorithms for path…
A highly successful approach to route planning in networks (particularly road networks) is to identify a hierarchy in the network that allows faster queries after some preprocessing that basically inserts additional "shortcut"-edges into a…
We present linear-time algorithms for partitioning a path or a tree with weights on the vertices by removing $k$ edges to maximize the minimum-weight component. We also use the same framework to partition a path with weight on the vertices,…
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…
The shortest path problem in graphs is a cornerstone of AI theory and applications. Existing algorithms generally ignore edge weight computation time. We present a generalized framework for weighted directed graphs, where edge weight can be…
In this paper, we introduce a graph matching method that can account for constraints of arbitrary order, with arbitrary potential functions. Unlike previous decomposition approaches that rely on the graph structures, we introduce a…
Path planning in grid maps, arising from various applications, has garnered significant attention. Existing methods, such as A*, Dijkstra, and their variants, work well for small-scale maps but fail to address large-scale ones due to high…